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empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the top green hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 155, "end_step": 336, "id": "1ccd8449-844f-4c27-be0f-ac85ff9b92f7"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg continuously."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the green block on the leftmost peg of the wooden base and releases it."}, {"label": "goal", "start_step": 337, "end_step": 444, "id": "ba01079b-61d0-4acc-8ff0-84489d7e3096"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 445, "end_step": 610, "id": "61689ca8-674f-4fea-8c6c-54fc4741bab6"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod by sliding it downward along the rod."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 611, "end_step": 758, "id": "974c2d56-5269-4ff6-a1dd-89ff3cf293d0"}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal object on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal object on the table with fingers closing."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 759, "end_step": 980, "id": "1402f49b-95a7-4ae9-b2c5-7aee142daab9"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 788, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1106, "id": "f04fc477-d4d1-4c58-9f76-8dae5a3338f1"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 1107, "end_step": 1232, "id": "8ed8f5a1-fcb5-44b6-b261-1c6796546a8d"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the middle purple peg of the wooden base, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1233, "end_step": 1366, "id": "da1887f0-b9d4-4984-8345-00b4338413aa"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1367, "end_step": 1490, "id": "a09edf4d-9181-46cb-9fff-815f5c7ec86e"}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand inserts the green hexagonal block onto the purple rod and fits it in place."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1614, "id": "0f640c85-d0c9-454d-9311-2351f9c43505"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part and reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the black table surface next to the white hexagonal part without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1615, "end_step": 1762, "id": "89a3c4b1-1c34-41b6-aa33-49af93e16ec4"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1763, "end_step": 1858, "id": "ee23b83c-1888-4e03-b413-ced0f727e11c"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "goal", "start_step": 1859, "end_step": 1990, "id": "53d4f04f-7871-40ca-a08d-fc413ce1e15a"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it down along the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring-shaped piece onto the base of the purple rod and releases it, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1991, "end_step": 2110, "id": "e3cc77be-7b77-45c5-9f71-42e434414cca"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the right side of the black table to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 2111, "end_step": 2224, "id": "486545c8-d4dd-4088-88d3-243460a865bd"}, {"label": "subtasks", "start_step": 2138, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and inserts it downward onto the rod for assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 2225, "end_step": 2332, "id": "0b04cbe6-2c91-481d-b6c3-c4823b4f72c6"}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2333, "end_step": 2490, "id": "efc4f834-bd47-4afd-8140-4f7149b5c425"}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward toward the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the rightmost bottle, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release: Right hand releases the green block fitted on the bottle, gradually opening fingers to separate from the block."}, {"label": "home", "start_step": 2543, "end_step": 2570, "id": "jvDqlIaAM5mlZTUUHfiZ3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_and_wrist_pose: Left hand opens its fingers and rotates its wrist slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the top green hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg continuously."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the green block on the leftmost peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod by sliding it downward along the rod."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal object on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal object on the table with fingers closing."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 788, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the middle purple peg of the wooden base, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand inserts the green hexagonal block onto the purple rod and fits it in place."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part and reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the black table surface next to the white hexagonal part without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it down along the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring-shaped piece onto the base of the purple rod and releases it, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the right side of the black table to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and inserts it downward onto the rod for assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward toward the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the rightmost bottle, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release: Right hand releases the green block fitted on the bottle, gradually opening fingers to separate from the block."}], "episode_index": 0}
+{"source_uid": "78823fee10222861", "num_frames": 2905, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 262, "id": "2b9e8494-ce37-45c7-b427-5b476d5bd8b8"}, {"label": "valid", "start_step": 0, "end_step": 2873, "id": "Uwywm4bXTajHueseTQ8q1"}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp_lift: Right hand adjusts its grasp on the green block and lifts it off the black table surface."}, {"label": "goal", "start_step": 263, "end_step": 434, "id": "3dc99a26-554b-4226-9dcc-fad4ca30edd4"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the peg to push it into the assembled position."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 435, "end_step": 550, "id": "8cda92f1-6c9a-4e89-9981-d1edd893252d"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 551, "end_step": 750, "id": "b4bee70a-7004-460a-bb49-066c4ca0b0ec"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal nut to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden rack."}, {"label": "goal", "start_step": 751, "end_step": 878, "id": "de7b6586-27f8-4eda-b848-e4b3e27026cb"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 879, "end_step": 1050, "id": "315c5383-6f92-465b-b887-d2b09d098ec2"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1051, "end_step": 1148, "id": "3b3f399a-54a9-4d85-a895-70393a51fd4e"}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1149, "end_step": 1282, "id": "f8fe6aa2-3394-492c-8bc8-aafab624971f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1283, "end_step": 1396, "id": "2b9e5fd9-7fb6-4868-a216-944df7fc7ef2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black tabletop."}, {"label": "goal", "start_step": 1397, "end_step": 1628, "id": "dcbe1a92-1f82-4cff-8992-1d98462919bd"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "goal", "start_step": 1629, "end_step": 1750, "id": "2cf9e0ca-56d6-4636-90f4-2395a13e11a6"}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white ring block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the black table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1974, "id": "58750caa-4034-4251-96a5-2059c31cef04"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the pegged wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1964, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base, adjusting and pressing to ensure proper fitting."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1975, "end_step": 2116, "id": "a8d9cfd0-84e7-4bee-a163-364c15e3b292"}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hollow block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2117, "end_step": 2224, "id": "4edaea88-a93a-464c-a975-ba973e23d384"}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hollow block onto the purple rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hollow block, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring after assembly."}, {"label": "goal", "start_step": 2225, "end_step": 2318, "id": "7962d153-b1bc-43a4-975a-4bddc4aa8d81"}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2331, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white ring on the black table surface."}, {"label": "goal", "start_step": 2319, "end_step": 2470, "id": "bce553b7-2662-4a3a-bcdb-6540416f960a"}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 2471, "end_step": 2646, "id": "72180cbd-5f5d-4984-a888-2edd9310df1d"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cubic block on the table."}, {"label": "goal", "start_step": 2647, "end_step": 2824, "id": "7cbc29be-9574-4cfc-a266-1eb87f85702d"}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white bottles on the wooden tray."}, {"label": "subtasks", "start_step": 2685, "end_step": 2737, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the protruding purple rod on the target white bottle."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green block onto the white bottle until it is stably supported by the bottle."}, {"label": "home", "start_step": 2874, "end_step": 2904, "id": "-Tk8XtW_r06XmNkQQr6cO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg base."}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp_lift: Right hand adjusts its grasp on the green block and lifts it off the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the peg to push it into the assembled position."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal nut to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white ring block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the pegged wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1964, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base, adjusting and pressing to ensure proper fitting."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hollow block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hollow block onto the purple rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hollow block, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring after assembly."}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2331, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cubic block on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white bottles on the wooden tray."}, {"label": "subtasks", "start_step": 2685, "end_step": 2737, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the protruding purple rod on the target white bottle."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green block onto the white bottle until it is stably supported by the bottle."}], "episode_index": 1}
+{"source_uid": "3cd206b9796579da", "num_frames": 2711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: idle: Right hand stays empty at the right initial position with no obvious translational or rotational movement of the arm."}, {"label": "goal", "start_step": 0, "end_step": 190, "id": "ef1c31e5-4e78-489f-93ca-1b69f05a50cd"}, {"label": "valid", "start_step": 0, "end_step": 2682, "id": "Q_uf5CbInAPPGC8If8zav"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and left from its initial right position toward the green hexagonal block placed on the table in front of the wooden block assembly, with fingers slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block, which remains resting on the table surface throughout this segment."}, {"label": "goal", "start_step": 191, "end_step": 338, "id": "f2d65205-1e2d-4799-9192-3d386c83bd9e"}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block vertically off the table surface, moving it upward to position it directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block slightly to fit it securely onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg on the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple post of the wooden base, fingers open to release the seated block."}, {"label": "goal", "start_step": 339, "end_step": 446, "id": "f6941248-c81c-4a32-9e42-2e27220cce22"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the table with an open hand."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers gradually close and adjust to establish a grip on the block."}, {"label": "goal", "start_step": 447, "end_step": 706, "id": "53627f39-0983-44e9-8560-222dea192349"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 502, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: press: Right hand presses downward on the top surface of a white hexagonal block mounted on the leftmost purple peg of the wooden block assembly, pushing the block to seat fully onto the peg."}, {"label": "goal", "start_step": 707, "end_step": 848, "id": "3c3f35f3-69b7-4cf2-9d12-94e92fe08e35"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the scattered hexagonal blocks resting on the black table surface, approaching a target white block."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions its fingers around the target white hexagonal block on the table, closing fingers and adjusting contact points to form a grip on the block."}, {"label": "goal", "start_step": 849, "end_step": 1050, "id": "92fb8aaa-4118-48a2-9f00-1e6ef9a1779f"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and leftward to the position directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, moves the nut downward to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and slightly right from the assembly board, approaching the white hexagonal nut on the table with fingers slightly open."}, {"label": "goal", "start_step": 1051, "end_step": 1202, "id": "afbe487d-9530-40e6-b26f-a76db92c911a"}, {"label": "subtasks", "start_step": 1095, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing around the nut to form a grip."}, {"label": "goal", "start_step": 1203, "end_step": 1344, "id": "80dab40f-f158-46ae-9649-dfaeba8a612c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden peg board."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod, letting the block drop onto the wooden base."}, {"label": "goal", "start_step": 1345, "end_step": 1432, "id": "08b11f76-8d0e-4cf8-8822-1f50874f90ac"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface while empty."}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand adjusts finger positions to establish a grip on the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1433, "end_step": 1570, "id": "30bdc398-b17e-44e3-9628-e32a97f66b78"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, rotates it slightly to orient its central hole toward the upward-pointing purple peg, and transports it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1485, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the green hexagonal block toward the purple peg, making small positional and rotational adjustments to align the block's central hole with the peg and fit the block onto the peg."}, {"label": "goal", "start_step": 1571, "end_step": 1684, "id": "d75d18aa-e650-406e-9a50-05d78d565069"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface adjacent to the loose green block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip."}, {"label": "goal", "start_step": 1685, "end_step": 1820, "id": "06ef9444-030b-4b6e-9713-dbb553647f2a"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, makes slight adjustments to the nut's position and orientation, and fits the nut down onto the rod to begin assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand positions the white cylindrical block onto the purple peg of the wooden assembly base, opening fingers to separate from the block."}, {"label": "goal", "start_step": 1821, "end_step": 1916, "id": "c61f2287-6338-4bb2-8b5a-5f0c33f55d1e"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves down and toward the white hexagonal block on the dark table surface, approaching the target block with an open hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger contact positions to establish a grasp."}, {"label": "goal", "start_step": 1917, "end_step": 2084, "id": "13de46df-b507-4035-9fe7-5db61c2aea18"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical rod mounted on the wooden stand, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit it securely onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to seat the block on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 2085, "end_step": 2198, "id": "e6d97d95-3b83-4c29-905d-9c2cd7cc30aa"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table adjacent to the green square block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to make contact and adjust grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without any observable movement."}, {"label": "goal", "start_step": 2199, "end_step": 2326, "id": "924a673b-3942-49b4-972c-88703217e259"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upwards and leftwards to a position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand makes small positional and angular adjustments to the white hexagonal nut to align its central hole with the purple rod on the assembly."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady above the purple rod with no observable movement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the aligned white hexagonal nut down along the purple rod until it rests on the lower white hexagonal block, entering the assembled position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand releases the small purple cylindrical piece it is holding, opening fingers to let the piece drop onto the white capped cylinder below and breaking contact with the piece."}, {"label": "goal", "start_step": 2327, "end_step": 2490, "id": "6752940a-f7bc-4323-ace8-9cca1491e83a"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cube resting on the black table surface with fingers held slightly open."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers around the cube and adjusting positions slightly to form a stable grip while the cube stays on the table."}, {"label": "subtasks", "start_step": 2438, "end_step": 2474, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand maintains a stable grip on the green cube, keeping the cube stationary on the table surface with no visible movement of the hand, fingers or cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand moves vertically upward while gripping the green cube, lifting the cube completely off the supporting table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand holds the green cubic block on the table, lifts it completely off the table surface, moves it upward and leftward to the position above the target slot on the wooden block rack."}, {"label": "goal", "start_step": 2491, "end_step": 2636, "id": "dba7ed78-ced1-4500-87ed-c619f8e114bb"}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the white cylindrical post below, lowers the block to fit onto the post."}, {"label": "home", "start_step": 2683, "end_step": 2710, "id": "CN9o6zBr1i5YnEcJ0awNB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: idle: Right hand stays empty at the right initial position with no obvious translational or rotational movement of the arm."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and left from its initial right position toward the green hexagonal block placed on the table in front of the wooden block assembly, with fingers slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block, which remains resting on the table surface throughout this segment."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block vertically off the table surface, moving it upward to position it directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block slightly to fit it securely onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg on the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple post of the wooden base, fingers open to release the seated block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the table with an open hand."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers gradually close and adjust to establish a grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 502, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: press: Right hand presses downward on the top surface of a white hexagonal block mounted on the leftmost purple peg of the wooden block assembly, pushing the block to seat fully onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the scattered hexagonal blocks resting on the black table surface, approaching a target white block."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions its fingers around the target white hexagonal block on the table, closing fingers and adjusting contact points to form a grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and leftward to the position directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, moves the nut downward to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and slightly right from the assembly board, approaching the white hexagonal nut on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1095, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing around the nut to form a grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden peg board."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod, letting the block drop onto the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface while empty."}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand adjusts finger positions to establish a grip on the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, rotates it slightly to orient its central hole toward the upward-pointing purple peg, and transports it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1485, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the green hexagonal block toward the purple peg, making small positional and rotational adjustments to align the block's central hole with the peg and fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface adjacent to the loose green block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, makes slight adjustments to the nut's position and orientation, and fits the nut down onto the rod to begin assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand positions the white cylindrical block onto the purple peg of the wooden assembly base, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves down and toward the white hexagonal block on the dark table surface, approaching the target block with an open hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical rod mounted on the wooden stand, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit it securely onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to seat the block on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table adjacent to the green square block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to make contact and adjust grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without any observable movement."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upwards and leftwards to a position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand makes small positional and angular adjustments to the white hexagonal nut to align its central hole with the purple rod on the assembly."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady above the purple rod with no observable movement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the aligned white hexagonal nut down along the purple rod until it rests on the lower white hexagonal block, entering the assembled position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand releases the small purple cylindrical piece it is holding, opening fingers to let the piece drop onto the white capped cylinder below and breaking contact with the piece."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cube resting on the black table surface with fingers held slightly open."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers around the cube and adjusting positions slightly to form a stable grip while the cube stays on the table."}, {"label": "subtasks", "start_step": 2438, "end_step": 2474, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand maintains a stable grip on the green cube, keeping the cube stationary on the table surface with no visible movement of the hand, fingers or cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand moves vertically upward while gripping the green cube, lifting the cube completely off the supporting table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand holds the green cubic block on the table, lifts it completely off the table surface, moves it upward and leftward to the position above the target slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the white cylindrical post below, lowers the block to fit onto the post."}], "episode_index": 2}
+{"source_uid": "748768181557cadd", "num_frames": 2774, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the middle front peg of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 182, "id": "1cf9a60e-df07-40e7-ac10-dfb1619196e8"}, {"label": "valid", "start_step": 0, "end_step": 2739, "id": "QfYmAYRfOC3r8JI86qUQc"}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the middle front peg of the wooden rack, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upward off the middle front peg of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal piece downward and leftward to the position above the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the leftmost green hexagonal block on the table, aligning and inserting it into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 183, "end_step": 340, "id": "283bb396-f2fe-412d-a049-b92553e23590"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, adjusting its position to fit onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 341, "end_step": 454, "id": "0053d7e7-2fdc-43d8-85ab-79e2655c6e6e"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 455, "end_step": 590, "id": "6ab01723-d256-4df1-a94b-5ae2ff765af9"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it down onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 591, "end_step": 690, "id": "c7dd85e6-daf5-406c-82b2-2ba0b5ae53c5"}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the worktable."}, {"label": "subtasks", "start_step": 645, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the worktable with fingers closing and adjusting."}, {"label": "goal", "start_step": 691, "end_step": 962, "id": "e68570fe-b1ae-47b1-8e14-e5739a0c4588"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hex nut toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 963, "end_step": 1220, "id": "c3a8f62f-10c3-404a-80dc-c4b9dd93e798"}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts and transports the white ring from the table toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part from the black table surface."}, {"label": "goal", "start_step": 1221, "end_step": 1408, "id": "43183e1d-b3e0-49bf-b86d-a2993aebe1c2"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal hollow part to above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the rightmost purple rod by aligning the hole and lowering it down the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal hollow part on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal hollow piece onto the middle purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1409, "end_step": 1524, "id": "38cd1a2b-86d4-48e7-af2e-c0d0358153c0"}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal hollow piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1525, "end_step": 1646, "id": "a87b2182-6b23-40f5-952a-bed93ce2fccc"}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white ring onto the purple peg of the wooden base until the ring is supported."}, {"label": "goal", "start_step": 1647, "end_step": 1786, "id": "16027518-3bd6-45b4-b56e-96ba2fde4c41"}, {"label": "subtasks", "start_step": 1665, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table, adjusting its grip gradually."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1918, "id": "a40a8a7a-19a4-4a6e-ae8f-9922cd13a303"}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward and upward to above the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1919, "end_step": 2034, "id": "efc143ef-d7a9-43c7-9305-6335c4118010"}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2035, "end_step": 2166, "id": "f2f5e09e-53b4-48a9-9823-32eecd72ff06"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to adjust its position."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: place_release: Right hand places and releases the white ring at the bottom of the purple rod on the wooden base."}, {"label": "goal", "start_step": 2167, "end_step": 2260, "id": "866419a3-24c6-4bde-b97d-ee394b1626b8"}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around it."}, {"label": "goal", "start_step": 2261, "end_step": 2370, "id": "6a31d609-b15c-4705-92e1-ff7aa558897e"}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the top of the white bottle with purple stem on the wooden rack."}, {"label": "goal", "start_step": 2371, "end_step": 2526, "id": "46870267-ceff-4627-a951-e95b9ada6376"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the green cubic block with a hole on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp_release: Right hand grasps and releases the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2527, "end_step": 2692, "id": "8f09a08f-b918-4c57-8259-dfb9b64e26a4"}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it toward the bottle group on the middle wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2631, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple rod on the rightmost front bottle and fits the cube onto the rod."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the green cube down along the purple rod to the lower section of the bottle."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release_retreat: Right hand releases the green cube and retreats slightly from the bottle group."}, {"label": "home", "start_step": 2740, "end_step": 2773, "id": "Pk8v3YWOGSeH5Uu33VR3t"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the middle front peg of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the middle front peg of the wooden rack, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upward off the middle front peg of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal piece downward and leftward to the position above the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the leftmost green hexagonal block on the table, aligning and inserting it into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, adjusting its position to fit onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it down onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the worktable."}, {"label": "subtasks", "start_step": 645, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the worktable with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hex nut toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts and transports the white ring from the table toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal hollow part to above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the rightmost purple rod by aligning the hole and lowering it down the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal hollow part on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal hollow piece onto the middle purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal hollow piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white ring onto the purple peg of the wooden base until the ring is supported."}, {"label": "subtasks", "start_step": 1665, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table, adjusting its grip gradually."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward and upward to above the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to adjust its position."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: place_release: Right hand places and releases the white ring at the bottom of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the top of the white bottle with purple stem on the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the green cubic block with a hole on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp_release: Right hand grasps and releases the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it toward the bottle group on the middle wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2631, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple rod on the rightmost front bottle and fits the cube onto the rod."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the green cube down along the purple rod to the lower section of the bottle."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release_retreat: Right hand releases the green cube and retreats slightly from the bottle group."}], "episode_index": 3}
+{"source_uid": "347b92834a0288e1", "num_frames": 2597, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "c1233610-ed7b-4906-8516-34cedb91d0cb"}, {"label": "valid", "start_step": 0, "end_step": 2565, "id": "b-X8vpz7VyNr1NpgeIuNi"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 123, "end_step": 260, "id": "115ee816-057d-4063-84ab-83507d12f0e6"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 158, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal ring onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 261, "end_step": 486, "id": "a6a98848-8ce4-41de-be28-7cd279ad6ea6"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 487, "end_step": 610, "id": "12712cf1-ad08-4c77-94c4-8e0314d915ff"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and pushes it down to fit onto the rod."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 611, "end_step": 710, "id": "c218cf86-dbdf-4b6e-8cce-8ab3f88fae92"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 711, "end_step": 856, "id": "a6aed23f-870c-4cd0-947f-988d779604ff"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base, adjusting its position to fit properly."}, {"label": "goal", "start_step": 857, "end_step": 940, "id": "73e50772-f6e4-4e05-9ba6-34a51ca6aa29"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 941, "end_step": 1136, "id": "33f31c1f-e86c-4d8d-aef6-9ee7cfbed0f2"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly adjustment."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1216, "id": "630ba89d-a173-41e7-93ab-ff10c2300b33"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green square block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1217, "end_step": 1342, "id": "c228ea21-5f15-4b75-969a-8c51c951c2d3"}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white post on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the top of the white post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the green block down along the white post to fit it into place."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1343, "end_step": 1440, "id": "2818579d-1070-4d47-b953-9ab491f2c2b4"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats downwards from the wooden base towards the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white ring lying on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white ring upwards off the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 1441, "end_step": 1710, "id": "2ffaf039-2b69-4a72-bc92-b12c01340254"}, {"label": "subtasks", "start_step": 1462, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple rod on the wooden base and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 1711, "end_step": 1822, "id": "fcbe64b1-dc98-421f-b4bc-716d544d6006"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the upper white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white ring placed on the black table surface."}, {"label": "goal", "start_step": 1823, "end_step": 1904, "id": "de93d5fc-d4c0-4131-8af3-bf83519038a9"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the target post on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the target post on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1905, "end_step": 1988, "id": "35bec4d9-88d1-4965-bd83-04387303f556"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1989, "end_step": 2104, "id": "43677e81-5e76-4df4-9b2e-dec37432b3d5"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white ring completely off the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white ring and moves towards the wooden rack with vertical columns."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and fits the white ring onto the target vertical column on the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the front-right position of the wooden base."}, {"label": "goal", "start_step": 2105, "end_step": 2210, "id": "6043bf0c-7097-45e8-9d0e-4fe43aed3fcd"}, {"label": "subtasks", "start_step": 2130, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty towards the green block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 2211, "end_step": 2502, "id": "a2f2337e-b33d-4a46-ab87-1ddf02eedb8c"}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green cubic block towards the rightmost white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylindrical post and fits it onto the post."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green cubic block by opening its fingers."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats slightly away from the green cubic block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses down on the top of the green cubic block to secure it on the post."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats away from the green cubic block after pressing."}, {"label": "home", "start_step": 2566, "end_step": 2596, "id": "FPdPTXC-I7dSGDN7KvvkX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 158, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal ring onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and pushes it down to fit onto the rod."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly adjustment."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green square block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white post on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the top of the white post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the green block down along the white post to fit it into place."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats downwards from the wooden base towards the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white ring lying on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white ring upwards off the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple rod on the wooden base and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the upper white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the target post on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the target post on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white ring completely off the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white ring and moves towards the wooden rack with vertical columns."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and fits the white ring onto the target vertical column on the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the front-right position of the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty towards the green block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green cubic block towards the rightmost white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylindrical post and fits it onto the post."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green cubic block by opening its fingers."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats slightly away from the green cubic block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses down on the top of the green cubic block to secure it on the post."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats away from the green cubic block after pressing."}], "episode_index": 4}
+{"source_uid": "da39c08874eb2f11", "num_frames": 2507, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: idle: Right hand remains empty at its initial upper right position, staying stationary without moving toward any nearby objects."}, {"label": "goal", "start_step": 0, "end_step": 158, "id": "ba0c6845-8191-4c3e-aa96-33ab0d502227"}, {"label": "valid", "start_step": 0, "end_step": 2476, "id": "n3BtZKx7gVopm6t2bJnqq"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward and leftward with open fingers, approaching the green hexagonal block placed on the black table surface directly in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, closing its fingers and making small adjustments to form a stable grip, while the block remains supported by the table surface."}, {"label": "goal", "start_step": 159, "end_step": 280, "id": "b7a8a11f-5af0-42d1-8f15-373927d00476"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, making slight adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place: Right hand lowers the held green hexagonal block onto the purple peg of the wooden assembly base until the block is fully supported by the peg."}, {"label": "goal", "start_step": 281, "end_step": 382, "id": "d0a4abb6-4e9c-464d-ac8e-eba24d292ed6"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, separating contact from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the white hexagonal block on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 383, "end_step": 506, "id": "4dd0779b-2056-42a5-890e-214f6dd63f76"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg rack, moving it to position above a purple peg."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, making small adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden base, sets it on the underlying green block, and opens fingers to release the block."}, {"label": "goal", "start_step": 507, "end_step": 594, "id": "b7f46f3d-ba2d-4cc8-a554-dd1e4a7aea09"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downwards with open fingers toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp."}, {"label": "goal", "start_step": 595, "end_step": 754, "id": "072a4643-0faa-4221-b2b9-0b21c015f15a"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and moves it upward toward the purple pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the target purple peg, making small positional adjustments to fit the nut down securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the secured white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden assembly rack, with fingers held slightly open."}, {"label": "goal", "start_step": 755, "end_step": 876, "id": "47ff09c1-df87-4f12-a93a-7b3ff08fe568"}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block a short distance upward, raising it completely off the table surface."}, {"label": "goal", "start_step": 877, "end_step": 1018, "id": "23aaef0d-f2f3-43c7-b594-0346f3009f28"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligns its central hole with the purple post, and moves the nut downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1019, "end_step": 1102, "id": "e3dc5aca-d37d-4b24-bac3-abba2f8c053c"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block."}, {"label": "goal", "start_step": 1103, "end_step": 1424, "id": "0450f614-f409-4733-99a7-fd04ec2c4e82"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, adjusts its position and orientation slightly, and fits the block down onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens fingers to release the green cylindrical block seated on the purple peg of the wooden assembly base, separating contact from the block."}, {"label": "goal", "start_step": 1425, "end_step": 1536, "id": "08a8446b-5b23-43ff-beec-ba0257803fad"}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block to form a grip with small adjustments."}, {"label": "goal", "start_step": 1537, "end_step": 1692, "id": "cd337e2a-1da9-44ab-952b-ea1c6faa3e1b"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden assembly, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to place it onto the top of the stacked green block on the wooden base, opens fingers to release the stably placed block."}, {"label": "goal", "start_step": 1693, "end_step": 1800, "id": "c2566279-f6d4-4d28-b65a-397ede2248d9"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1801, "end_step": 1908, "id": "270e6bc3-6d74-4b9e-b8ec-56a8cb0e685d"}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional and rotational adjustments to align the block's central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base, releases the block with fingers opening as the block sits stably on the base."}, {"label": "goal", "start_step": 1909, "end_step": 2046, "id": "e95436f1-33af-4464-a0e4-3b2ee578efd0"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward with an empty palm toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2039, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the white hexagonal block upward, raising it completely away from the black table surface."}, {"label": "goal", "start_step": 2047, "end_step": 2186, "id": "404ae117-5780-491c-b9d0-a93cb4cc0b61"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand transports the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden block rack, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack and moves the block downward to nest it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: press: Right hand presses the top surface of the front white cylindrical object on the wooden base with its extended index finger, applying downward pressure with slight downward movement."}, {"label": "goal", "start_step": 2187, "end_step": 2302, "id": "25336cce-2acc-4730-b00f-9982f8aeeb18"}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the table, with fingers open, approaching the target."}, {"label": "subtasks", "start_step": 2235, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions and gradually closing fingers to form a grasp, with continuous small adjustments of the wrist and fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green holed block stationary on the black table surface."}, {"label": "goal", "start_step": 2303, "end_step": 2418, "id": "346fa706-22ea-4a10-a1b8-c9572b479d6a"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green holed block fully off the table and moves the block to the position directly above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple-capped bottle and lowers the block to nest it onto the bottle top."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens the fingers to release the nested green block, separating from the block surface."}, {"label": "home", "start_step": 2477, "end_step": 2506, "id": "TlNHXdvwckYXdJGhGu_PJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: idle: Right hand remains empty at its initial upper right position, staying stationary without moving toward any nearby objects."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward and leftward with open fingers, approaching the green hexagonal block placed on the black table surface directly in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, closing its fingers and making small adjustments to form a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, making slight adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place: Right hand lowers the held green hexagonal block onto the purple peg of the wooden assembly base until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, separating contact from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the white hexagonal block on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg rack, moving it to position above a purple peg."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, making small adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden base, sets it on the underlying green block, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downwards with open fingers toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and moves it upward toward the purple pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the target purple peg, making small positional adjustments to fit the nut down securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the secured white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden assembly rack, with fingers held slightly open."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block a short distance upward, raising it completely off the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligns its central hole with the purple post, and moves the nut downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, adjusts its position and orientation slightly, and fits the block down onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens fingers to release the green cylindrical block seated on the purple peg of the wooden assembly base, separating contact from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block to form a grip with small adjustments."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden assembly, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to place it onto the top of the stacked green block on the wooden base, opens fingers to release the stably placed block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional and rotational adjustments to align the block's central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base, releases the block with fingers opening as the block sits stably on the base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward with an empty palm toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2039, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the white hexagonal block upward, raising it completely away from the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand transports the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden block rack, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack and moves the block downward to nest it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: press: Right hand presses the top surface of the front white cylindrical object on the wooden base with its extended index finger, applying downward pressure with slight downward movement."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the table, with fingers open, approaching the target."}, {"label": "subtasks", "start_step": 2235, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions and gradually closing fingers to form a grasp, with continuous small adjustments of the wrist and fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green holed block stationary on the black table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green holed block fully off the table and moves the block to the position directly above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple-capped bottle and lowers the block to nest it onto the bottle top."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens the fingers to release the nested green block, separating from the block surface."}], "episode_index": 5}
+{"source_uid": "bca92c25d85b5995", "num_frames": 2647, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand slightly spreads its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "9877d3e3-69d5-4673-9b47-aa05bbd3e823"}, {"label": "valid", "start_step": 0, "end_step": 2615, "id": "JoUtYRLpI3GeD1zIleIo6"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left table area, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 129, "end_step": 306, "id": "6646bdd8-793a-43a5-996b-a311b486c31a"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and aligns it to fit onto the leftmost peg of the pegboard, completing the nesting assembly."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 307, "end_step": 398, "id": "eff6b554-fc4d-4757-a51d-1178e1557a2f"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 399, "end_step": 528, "id": "fdc535ce-d4dd-4ee7-948d-9c03c2a7509d"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the tabletop to the position above the leftmost purple peg of the peg rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg by lowering the piece downward."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 529, "end_step": 616, "id": "2f9c0ae3-4415-4afa-bc07-17df1b112793"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the leftmost purple post of the rack."}, {"label": "goal", "start_step": 617, "end_step": 758, "id": "ca38918a-a61f-47e9-b9ca-cd4650ef5084"}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 759, "end_step": 860, "id": "80688707-c5f7-4e03-ab63-ba1dc5ee9be2"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 861, "end_step": 1026, "id": "e0422c6a-3b3c-43e9-a4ee-ac768943895d"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple rod of the wooden rack and inserts it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1027, "end_step": 1206, "id": "ad7daf11-d5d9-4ae9-88c2-c9093821f54f"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal piece upward off the black table surface."}, {"label": "goal", "start_step": 1207, "end_step": 1324, "id": "28b37ff1-23bf-41fc-9fe0-bd3d9bfe97a4"}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical hollow piece onto the purple peg of the wooden base and releases the piece."}, {"label": "goal", "start_step": 1325, "end_step": 1458, "id": "31f1ac0a-5478-40d3-a076-863c45e6496c"}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow piece on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1459, "end_step": 1596, "id": "c4408f32-3abc-4902-9d67-1f52572f1b58"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases the ring."}, {"label": "goal", "start_step": 1597, "end_step": 1692, "id": "b7af52cb-eaf2-4ecd-b974-dc7d232b21b1"}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1693, "end_step": 1920, "id": "124050c8-99d2-4f30-b1cc-85c7af3b9aa4"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1921, "end_step": 2034, "id": "dbb785a8-0387-4ebc-999d-376c851900f8"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 2035, "end_step": 2264, "id": "ae1a1193-5953-4e3f-b296-3fffcb4affb7"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the right of the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod of the rightmost cylinder on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 2265, "end_step": 2378, "id": "9d0497a8-31b8-47c5-8be1-cffee35fc81c"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing."}, {"label": "goal", "start_step": 2379, "end_step": 2574, "id": "0b8ac359-f769-4ab4-bdab-05e9eb16ad81"}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple-capped bottle and fits it down onto the bottle body."}, {"label": "home", "start_step": 2616, "end_step": 2646, "id": "x2e7IWTHYb3eTS3DXQLEh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand slightly spreads its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left table area, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and aligns it to fit onto the leftmost peg of the pegboard, completing the nesting assembly."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the tabletop to the position above the leftmost purple peg of the peg rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg by lowering the piece downward."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple rod of the wooden rack and inserts it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal piece upward off the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical hollow piece onto the purple peg of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow piece on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases the ring."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the right of the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod of the rightmost cylinder on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple-capped bottle and fits it down onto the bottle body."}], "episode_index": 6}
+{"source_uid": "37085ab15c387c2a", "num_frames": 2788, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod with white cap on the left front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "80f167c2-4dbc-48af-a8b2-a28089b9cc07"}, {"label": "valid", "start_step": 0, "end_step": 2759, "id": "WreuBqF0qFl0TFZqciUE3"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod with white cap, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the purple rod upwards until it completely leaves the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the purple rod downwards to the position above the green hexagonal block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the purple rod into the hole of the green hexagonal block."}, {"label": "goal", "start_step": 129, "end_step": 264, "id": "fb16d370-a4b9-4792-a96d-7dadb301bd3a"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 265, "end_step": 350, "id": "1f04a20f-1176-459c-9379-4c02535a1d26"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 351, "end_step": 474, "id": "928bbf55-130c-4cad-bf2e-f1b0752a28eb"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pushing the block down to fit onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 475, "end_step": 568, "id": "47d11102-ec0f-4518-b44d-e4aedc0e5ef0"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 569, "end_step": 758, "id": "d0971ce3-581f-4b14-8352-989d486bc881"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the rod of the wooden bracket."}, {"label": "goal", "start_step": 759, "end_step": 848, "id": "cff3abf3-6d63-43d6-b4fa-b14b5f03d41f"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 849, "end_step": 958, "id": "a3a47339-5378-412a-ba01-a5b5ddf92dbc"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_press: Right hand places the white hexagonal block onto the purple post and presses it down to fix it in position."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 959, "end_step": 1054, "id": "003f524a-f264-4aad-ab69-6102f587b059"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 1055, "end_step": 1142, "id": "968680f6-a106-45a8-83fd-bd92bf45dd3e"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg to complete the assembly."}, {"label": "goal", "start_step": 1143, "end_step": 1236, "id": "aaad489c-d2b2-4e8f-bc8d-c74437cdb8c1"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1237, "end_step": 1352, "id": "e3a2acdd-9f4a-49d9-8720-106ed6ba7b65"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and fitting it onto the peg."}, {"label": "goal", "start_step": 1353, "end_step": 1446, "id": "aea0fc25-0aaa-4098-9796-8181f12e6b05"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring on the black tabletop."}, {"label": "goal", "start_step": 1447, "end_step": 1562, "id": "7e9668b6-78f2-4de4-891e-87b73f05d943"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "goal", "start_step": 1563, "end_step": 1652, "id": "134e1c35-7c1c-478d-b210-39802b4b510e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table, adjusting fingers to form a stable grasp."}, {"label": "goal", "start_step": 1653, "end_step": 1780, "id": "f3873e01-acd6-4834-baa3-b64550680fbf"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by lowering it onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1781, "end_step": 1870, "id": "e68570f5-241f-4127-8f88-6624244d6072"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1871, "end_step": 2580, "id": "50153919-c609-4529-abd9-677f9ca0357c"}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand tries to mate the green cube onto the white pillar."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, which falls onto the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the green cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table again."}, {"label": "subtasks", "start_step": 2145, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the middle area of the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2451, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_cube_orientation: Right hand adjusts the orientation of the green cube on the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board again."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white pillar successfully."}, {"label": "home", "start_step": 2760, "end_step": 2787, "id": "KeNW-iIg_j-190Eb9OY1g"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod with white cap on the left front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod with white cap, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the purple rod upwards until it completely leaves the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the purple rod downwards to the position above the green hexagonal block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the purple rod into the hole of the green hexagonal block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pushing the block down to fit onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the rod of the wooden bracket."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_press: Right hand places the white hexagonal block onto the purple post and presses it down to fix it in position."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table, adjusting fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by lowering it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand tries to mate the green cube onto the white pillar."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, which falls onto the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the green cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table again."}, {"label": "subtasks", "start_step": 2145, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the middle area of the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2451, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_cube_orientation: Right hand adjusts the orientation of the green cube on the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board again."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white pillar successfully."}], "episode_index": 7}
+{"source_uid": "92d95c2e051abd75", "num_frames": 2662, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: idle: Right hand remains empty at the right side of the home position with no obvious overall position movement."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "f5f746ac-64e4-4c3e-88dd-88bab24923f3"}, {"label": "valid", "start_step": 0, "end_step": 2635, "id": "78kLH8Ce3obSG7EKwX7fD"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed on the table in front of the wooden peg board, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand contacts the front green hexagonal block on the table, with fingers closing and adjusting to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 135, "end_step": 328, "id": "1abd8534-4ca8-4041-9a62-0bef8b8c6403"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and nests it onto the purple peg on the wooden board, opens fingers to release the block on the peg."}, {"label": "goal", "start_step": 329, "end_step": 426, "id": "9faa3c08-8c92-486f-a850-c3035dbb9f58"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty from the wooden board area toward the green hexagonal block placed on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the black table surface, adjusts finger positions and gradually closes fingers around the block to establish a grasp, with the block remaining on the table."}, {"label": "goal", "start_step": 427, "end_step": 550, "id": "0019d8cb-413e-49a8-970d-0b9a0910fc4d"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg attached to the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press: Right hand presses the green block downward along the purple peg on the wooden base to seat it fully in place."}, {"label": "goal", "start_step": 551, "end_step": 632, "id": "e469f2a0-a9af-46f6-8c51-176d872823e2"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a secure grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 633, "end_step": 792, "id": "d50e1b05-0b5c-4fb0-90db-ee7dbf8d6456"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and rightward to the position above the leftmost purple peg on the light brown wooden block assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and slides the nut down the peg to establish a stable fitted assembly relation."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg of the wooden assembly without observable movement."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple post to rest on the lower stacked block, opening fingers to release contact with the stabilized block."}, {"label": "goal", "start_step": 793, "end_step": 880, "id": "dd81208b-d383-4620-a8c7-2b035473e0c5"}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 881, "end_step": 990, "id": "fd5a3c29-c9f6-401c-8d9b-76bfd1c9e832"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple rod until the nut rests stably on the lower assembly component."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: retreat: Right hand moves empty downward away from the wooden pegboard and stacked block assembly."}, {"label": "goal", "start_step": 991, "end_step": 1076, "id": "4060d98f-07ca-45da-93fb-dea2f91b4e2b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the target green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers starting to close around the block to form a grip."}, {"label": "goal", "start_step": 1077, "end_step": 1220, "id": "f546e534-a44d-49ed-ad7b-246f830eb570"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small adjustments to position the block during assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press_release: Right hand applies downward pressure to seat the green hexagonal block with a white top on the purple rod of the wooden assembly, releasing contact with the block as fingers lift away."}, {"label": "goal", "start_step": 1221, "end_step": 1308, "id": "b6e45baa-5eab-4302-a0ae-07022dd081e0"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to form a stable grip."}, {"label": "goal", "start_step": 1309, "end_step": 1448, "id": "dae65a40-ca1a-4cab-9839-9c8cdc43b006"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments as it slides the nut down to fit onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod without any visible movement or further adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to seat the nut on the purple vertical rod, and opens fingers to release the seated nut."}, {"label": "goal", "start_step": 1449, "end_step": 1556, "id": "22a2297e-7332-400e-997e-6680aaec8b73"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves diagonally downward toward the white hexagonal nut resting on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the black table surface."}, {"label": "goal", "start_step": 1557, "end_step": 1694, "id": "019a4c32-1256-43c6-bbc3-6a7f440217e9"}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the top of the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block along the rod to rest on the existing stacked blocks."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the fully seated white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and slightly rightward from the area above the stacked block assembly toward the white hollow hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 1695, "end_step": 1818, "id": "5f434426-4e8c-4e3e-81e3-ee25bbbecd3a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hollow hexagonal block on the table, making small positional adjustments of the fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: release: Right hand releases the white hexagonal block on the table beside the green block, fingers gradually open to separate from the block."}, {"label": "goal", "start_step": 1819, "end_step": 2322, "id": "7081ccc3-83cc-4748-a2be-0bc23330db7d"}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty, first lifting upward slightly then moving downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1905, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions repeatedly and closes fingers to form a stable grasp on the block, which remains on the table surface during this process."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, then transports it upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the grasped white hexagonal block to align it directly above the purple rod on the wooden rack, preparing for nesting."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal block steadily above the purple rod on the wooden rack without any obvious movement of the hand or the block."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the aligned white hexagonal block downward along the purple rod, nesting the block onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, lowers it into the corresponding hole on the wooden block rack, and releases the block once the block is supported by the rack."}, {"label": "goal", "start_step": 2323, "end_step": 2454, "id": "b29954de-2e1c-429b-9c2e-2ef908b08719"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block located on the right area of the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusts finger positions and closes fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2455, "end_step": 2582, "id": "711c342c-edb5-4e85-a80a-38d93f3bfca2"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and moves it upward to position it directly above the target vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target post and moves the block downward to nest it onto the post."}, {"label": "home", "start_step": 2636, "end_step": 2661, "id": "-5Egq_8JVZ17FdvQK3UkY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: idle: Right hand remains empty at the right side of the home position with no obvious overall position movement."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed on the table in front of the wooden peg board, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand contacts the front green hexagonal block on the table, with fingers closing and adjusting to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and nests it onto the purple peg on the wooden board, opens fingers to release the block on the peg."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty from the wooden board area toward the green hexagonal block placed on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the black table surface, adjusts finger positions and gradually closes fingers around the block to establish a grasp, with the block remaining on the table."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg attached to the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press: Right hand presses the green block downward along the purple peg on the wooden base to seat it fully in place."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a secure grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and rightward to the position above the leftmost purple peg on the light brown wooden block assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and slides the nut down the peg to establish a stable fitted assembly relation."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg of the wooden assembly without observable movement."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple post to rest on the lower stacked block, opening fingers to release contact with the stabilized block."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple rod until the nut rests stably on the lower assembly component."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: retreat: Right hand moves empty downward away from the wooden pegboard and stacked block assembly."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the target green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers starting to close around the block to form a grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small adjustments to position the block during assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press_release: Right hand applies downward pressure to seat the green hexagonal block with a white top on the purple rod of the wooden assembly, releasing contact with the block as fingers lift away."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments as it slides the nut down to fit onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod without any visible movement or further adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to seat the nut on the purple vertical rod, and opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves diagonally downward toward the white hexagonal nut resting on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the top of the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block along the rod to rest on the existing stacked blocks."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the fully seated white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and slightly rightward from the area above the stacked block assembly toward the white hollow hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hollow hexagonal block on the table, making small positional adjustments of the fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: release: Right hand releases the white hexagonal block on the table beside the green block, fingers gradually open to separate from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty, first lifting upward slightly then moving downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1905, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions repeatedly and closes fingers to form a stable grasp on the block, which remains on the table surface during this process."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, then transports it upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the grasped white hexagonal block to align it directly above the purple rod on the wooden rack, preparing for nesting."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal block steadily above the purple rod on the wooden rack without any obvious movement of the hand or the block."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the aligned white hexagonal block downward along the purple rod, nesting the block onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, lowers it into the corresponding hole on the wooden block rack, and releases the block once the block is supported by the rack."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block located on the right area of the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusts finger positions and closes fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and moves it upward to position it directly above the target vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target post and moves the block downward to nest it onto the post."}], "episode_index": 8}
+{"source_uid": "1a031389d55676fc", "num_frames": 2413, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly rotates its wrist and adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "goal", "start_step": 0, "end_step": 138, "id": "b1136529-f1d4-44de-ac6e-dc2eed472838"}, {"label": "valid", "start_step": 0, "end_step": 2385, "id": "n_enCooPieez-dYWq7wzz"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the lower-left area of the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table at the lower-left area without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black worktable surface."}, {"label": "goal", "start_step": 139, "end_step": 290, "id": "a1b3d2d6-6afe-4ff3-a726-2d848cfca93a"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand moves the green block to the top of the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the leftmost purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 291, "end_step": 388, "id": "1efc0e1e-d7d1-4961-b8a4-13358c6f623a"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface in front of the pegboard."}, {"label": "goal", "start_step": 389, "end_step": 562, "id": "ef2ff9b3-f059-4c75-8b2a-18bb235eb81a"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the leftmost purple peg of the green base."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg of the stacking toy and releases it."}, {"label": "goal", "start_step": 563, "end_step": 668, "id": "5617a204-693d-4444-8d8c-87aca3a23c21"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the lower right area of the black table without moving."}, {"label": "goal", "start_step": 669, "end_step": 784, "id": "6c2607fa-026c-4611-bcb0-ef4a923e6853"}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg and releases the ring."}, {"label": "goal", "start_step": 785, "end_step": 898, "id": "6561e99a-445c-483d-9dbd-07dbf4ea3fdc"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the wooden base with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table surface and transports it toward the purple peg on the wooden base."}, {"label": "goal", "start_step": 899, "end_step": 1028, "id": "8e9caa05-f29e-4702-8edd-087232d94bed"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases it."}, {"label": "goal", "start_step": 1029, "end_step": 1146, "id": "eaf9a863-7ca8-4723-bce0-ef25ef6a8c41"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1147, "end_step": 1268, "id": "1bfb93ad-3e23-4419-8a99-9afe60345953"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1269, "end_step": 1368, "id": "7106c68f-6e5b-4c81-8f8b-3f556ec7f782"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and moves it towards the wooden peg board."}, {"label": "goal", "start_step": 1369, "end_step": 1632, "id": "997368ba-e005-4304-b299-948184095804"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the target peg of the wooden board by aligning its central hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1432, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece stationary on the peg of the wooden board."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers to separate from the piece."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the wooden peg board while empty."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the green peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1633, "end_step": 1752, "id": "6d12bb9a-0a11-4262-95dd-9216b920eeab"}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1753, "end_step": 1892, "id": "80dcae2b-f0e6-47ea-9965-e0aa47a52291"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1893, "end_step": 1992, "id": "d95aa7de-96d6-4d6b-ac31-18617242536f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "goal", "start_step": 1993, "end_step": 2114, "id": "014dea1d-6072-461a-9a18-c9a6912c47c3"}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden block, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 2115, "end_step": 2210, "id": "7ba0424e-f403-4409-9eef-ca95121b2c1d"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green block on the table, approaching the target block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block from the black workbench surface."}, {"label": "goal", "start_step": 2211, "end_step": 2334, "id": "08bd83bf-4c87-443b-a7be-4b3acab86ba7"}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block toward the front-right peg of the wooden rack."}, {"label": "subtasks", "start_step": 2258, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the front-right peg of the wooden rack by aligning the hole and lowering it."}, {"label": "home", "start_step": 2386, "end_step": 2412, "id": "R-xawKPOVkkHzfYPeKGGd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly rotates its wrist and adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the lower-left area of the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table at the lower-left area without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black worktable surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand moves the green block to the top of the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the leftmost purple peg of the green base."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg of the stacking toy and releases it."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the lower right area of the black table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg and releases the ring."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the wooden base with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and moves it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the target peg of the wooden board by aligning its central hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1432, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece stationary on the peg of the wooden board."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers to separate from the piece."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the wooden peg board while empty."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the green peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden block, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green block on the table, approaching the target block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block from the black workbench surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block toward the front-right peg of the wooden rack."}, {"label": "subtasks", "start_step": 2258, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the front-right peg of the wooden rack by aligning the hole and lowering it."}], "episode_index": 9}
+{"source_uid": "8519c3a137bb1e17", "num_frames": 2318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "8da242ac-ee9a-4e76-8dd6-90a35b6da2ee"}, {"label": "valid", "start_step": 0, "end_step": 2293, "id": "h3uJ64G-KLDB_cr8hkcaJ"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 143, "end_step": 232, "id": "7cb2cbab-47da-455b-9ad3-1c565b46726c"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the purple pole on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple pole by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple pillar of the wooden base."}, {"label": "goal", "start_step": 233, "end_step": 326, "id": "de302311-13b4-418a-941c-6218a3246907"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 327, "end_step": 504, "id": "e5688a00-547a-4511-bfdb-7ce0c2941d30"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal workpiece from the tabletop and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal workpiece with the purple rod by aligning the central hole of the workpiece with the rod and inserting it downwards."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal workpiece downwards along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 505, "end_step": 682, "id": "cd1a59b1-262b-4eb3-b6c7-74b2b59dd3ff"}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 683, "end_step": 828, "id": "fc48cc34-cfde-4178-b6db-ec1b1faa9222"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 829, "end_step": 922, "id": "6ff239f4-218a-4864-b8c5-aceb162d2d01"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 923, "end_step": 1006, "id": "85bc31e8-65d6-4f48-a416-9983d83637d4"}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1011, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly from the wooden rack area after releasing the block."}, {"label": "goal", "start_step": 1007, "end_step": 1098, "id": "51a4ef02-3f59-496e-8209-0f671f5bf4cd"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white annular block on the purple post of the wooden base downward to secure it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green annular block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green annular block on the tabletop."}, {"label": "goal", "start_step": 1099, "end_step": 1206, "id": "e3f9b50a-2a59-463f-b97e-05e0c75d42fa"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upwards away from the green hexagonal block and the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1366, "id": "e72e82e5-05df-468d-8387-cf5ceca239dd"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers with slight opening and closing movements to grasp and stabilize the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1367, "end_step": 1508, "id": "b1ee219c-722c-4ba7-a43f-5ab674154b9d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1509, "end_step": 1608, "id": "27657eb0-ced7-4621-a149-e44ba359b9d8"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "goal", "start_step": 1609, "end_step": 1806, "id": "60fde12a-81e2-48db-bf3a-8b15e80b76d1"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 1807, "end_step": 1900, "id": "ecd20463-572c-4027-9284-2e00925ab1cf"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downwards and rightwards away from the purple rod towards the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal ring on the black table and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1901, "end_step": 2028, "id": "63527332-0183-470e-83b8-ce4b8d05f3ec"}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2029, "end_step": 2114, "id": "2b51a5b1-0130-4dbb-a3db-df4ac9c85be8"}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green hollow block on the table surface and starts to grasp it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green square block on the black table."}, {"label": "goal", "start_step": 2115, "end_step": 2246, "id": "a1e7de57-99f3-40ed-ad83-94d0e0fe924d"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple-capped bottle and fits it onto the bottle."}, {"label": "home", "start_step": 2294, "end_step": 2317, "id": "EZQoft-2ssqEfaeT2cpiY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the purple pole on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple pole by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple pillar of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal workpiece from the tabletop and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal workpiece with the purple rod by aligning the central hole of the workpiece with the rod and inserting it downwards."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal workpiece downwards along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1011, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly from the wooden rack area after releasing the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white annular block on the purple post of the wooden base downward to secure it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green annular block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green annular block on the tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upwards away from the green hexagonal block and the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers with slight opening and closing movements to grasp and stabilize the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downwards and rightwards away from the purple rod towards the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal ring on the black table and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green hollow block on the table surface and starts to grasp it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple-capped bottle and fits it onto the bottle."}], "episode_index": 10}
+{"source_uid": "d8b02a70bb7069e6", "num_frames": 2245, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial upward-extended position back to the left home position, rotating the wrist slightly forward and curling fingers into a relaxed resting posture. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "goal", "start_step": 0, "end_step": 172, "id": "9b4bf95c-b586-47d0-9cc4-da15dcb57202"}, {"label": "valid", "start_step": 0, "end_step": 2218, "id": "rXjFjZpJOG-5aXBbUjjQA"}, {"label": "subtasks", "start_step": 38, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface, fingers close around the block and adjust contact positions to establish a stable grip, with the block remaining supported by the table throughout the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward away from the black table surface."}, {"label": "goal", "start_step": 173, "end_step": 292, "id": "8002f731-dc3d-4cd8-b1e1-b7ba95d77088"}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green block upward and horizontally to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green block seated on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden base until the block is fully supported by the peg, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 293, "end_step": 392, "id": "8407ed5e-0a46-4c0b-b8f4-5c1cac9a1a1a"}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, making contact with the block while adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 393, "end_step": 542, "id": "66613def-bfb4-43fc-9d51-c7f4dadfa5d5"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the wooden assembly rack, moving it directly above the target purple vertical peg."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moves the nut downward to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty downwards away from the wooden pegboard assembly area."}, {"label": "goal", "start_step": 543, "end_step": 624, "id": "52936958-3d80-4180-85ff-5a0211de8040"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty towards the front-left white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front-left white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 625, "end_step": 838, "id": "e4ff7f02-5fe0-4555-a6f1-316613e914a3"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden block rack toward the white hexagonal block on the table surface in front of the rack, with fingers slightly open."}, {"label": "goal", "start_step": 839, "end_step": 926, "id": "1b4eaff2-0308-48bd-b608-e3de39796e09"}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the table, adjusting finger positions to establish contact with the block."}, {"label": "goal", "start_step": 927, "end_step": 1032, "id": "aa6ef0e0-b8c2-4e30-acd2-09369077bf55"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack, making small position adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly base and releases the block as fingers open."}, {"label": "goal", "start_step": 1033, "end_step": 1140, "id": "cef30879-2860-4a49-8c64-ba425f66734d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the assembly base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block on the black table surface, with slight finger movements to stabilize contact."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1256, "id": "a111135b-4f67-4232-8247-51424b851207"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and rightward to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, positions it onto the vertical peg of the wooden base to be supported by stacked blocks, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1257, "end_step": 1360, "id": "51b94b84-c5ca-4152-afdd-d657beb3494b"}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the resting green hexagonal block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers close and adjust around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block near the green block on the table surface without observable movement."}, {"label": "goal", "start_step": 1361, "end_step": 1502, "id": "ba77c455-f5e2-4e30-a667-396097e3c012"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and forward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block along the purple rod until it rests stably on the green block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the green block without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, fingers open to release grip on the block."}, {"label": "goal", "start_step": 1503, "end_step": 1616, "id": "1709e5c2-55cd-41e3-b5e1-f646dbe7b46a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, detaching the nut from the table support."}, {"label": "goal", "start_step": 1617, "end_step": 1760, "id": "2c428de1-c7f5-4f8f-8d80-f9aa7173122f"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden block assembly, moving the nut through the air to the position above the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, moving the nut downward to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal piece positioned on the purple rod."}, {"label": "goal", "start_step": 1761, "end_step": 1838, "id": "95d9e38a-af15-4e44-9396-3d9099547375"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact with and grasp the loose white hexagonal piece on the dark table surface."}, {"label": "goal", "start_step": 1839, "end_step": 1952, "id": "e2e366e3-91a4-40bb-ae9c-fcfa174c48e2"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the purple rod mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical piece, places it onto the purple post on the wooden block tray, and opens fingers to release the piece."}, {"label": "goal", "start_step": 1953, "end_step": 2040, "id": "be67525d-99a3-4cfd-b2ee-6f74c827d384"}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green cubic object resting on the black table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic object, with minor finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the small green block resting on the dark table surface and lifts it upward until the block fully separates from the table."}, {"label": "goal", "start_step": 2041, "end_step": 2172, "id": "d8b0de69-b79a-49e7-940c-e7e214c977a1"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted small green block upward and leftward toward the position directly above the purple-capped cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the small green block with the top of the purple-capped cylinder, making slight positional adjustments to fit the block onto the cylinder top for nested assembly."}, {"label": "home", "start_step": 2219, "end_step": 2244, "id": "LNCnjqBdNqDUAv110XHAc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial upward-extended position back to the left home position, rotating the wrist slightly forward and curling fingers into a relaxed resting posture. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 38, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface, fingers close around the block and adjust contact positions to establish a stable grip, with the block remaining supported by the table throughout the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green block upward and horizontally to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green block seated on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden base until the block is fully supported by the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, making contact with the block while adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the wooden assembly rack, moving it directly above the target purple vertical peg."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moves the nut downward to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty downwards away from the wooden pegboard assembly area."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty towards the front-left white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front-left white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden block rack toward the white hexagonal block on the table surface in front of the rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the table, adjusting finger positions to establish contact with the block."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack, making small position adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly base and releases the block as fingers open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the assembly base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block on the black table surface, with slight finger movements to stabilize contact."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and rightward to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, positions it onto the vertical peg of the wooden base to be supported by stacked blocks, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the resting green hexagonal block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers close and adjust around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block near the green block on the table surface without observable movement."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and forward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block along the purple rod until it rests stably on the green block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the green block without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, fingers open to release grip on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, detaching the nut from the table support."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden block assembly, moving the nut through the air to the position above the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, moving the nut downward to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal piece positioned on the purple rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact with and grasp the loose white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the purple rod mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical piece, places it onto the purple post on the wooden block tray, and opens fingers to release the piece."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green cubic object resting on the black table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic object, with minor finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the small green block resting on the dark table surface and lifts it upward until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted small green block upward and leftward toward the position directly above the purple-capped cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the small green block with the top of the purple-capped cylinder, making slight positional adjustments to fit the block onto the cylinder top for nested assembly."}], "episode_index": 11}
+{"source_uid": "d3bf9234f7a793f5", "num_frames": 2463, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:flex_fingers: Left hand stays at the left side of the table, with fingers gradually flexing from an extended posture. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "7eb39651-309f-4870-a756-7129ea25f35a"}, {"label": "valid", "start_step": 0, "end_step": 2435, "id": "Yysq9NdQEVaChwEXFBZdW"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower area of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 141, "end_step": 282, "id": "bdf2cd52-57c9-46d9-b72d-bff2e1e0cff6"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the rack by moving it downward."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases it."}, {"label": "goal", "start_step": 283, "end_step": 366, "id": "8d3827ca-424b-4ecd-810e-7ddaca88f3ce"}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 367, "end_step": 514, "id": "3ec5c04f-298c-4fc4-87e1-e9cadddd06cb"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the wooden rack, sliding the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden pegboard and releases the part."}, {"label": "goal", "start_step": 515, "end_step": 612, "id": "de363a70-c94f-42d5-9182-222fa8b0279b"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "goal", "start_step": 613, "end_step": 760, "id": "d0a9084d-d093-4aa8-843f-56ceabcf95ce"}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring with the leftmost purple peg by fitting the ring onto the peg."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal ring down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 761, "end_step": 1022, "id": "e2238b67-66a2-4711-9ac6-0583e2a41794"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting repeatedly to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the table."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward toward the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple peg and fits the block onto the bottom of the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:slide_block_up_peg: Right hand slides the white hexagonal block upward along the front purple peg while holding the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1023, "end_step": 1188, "id": "86c224b2-913f-4f64-a4dc-628b75daeab3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical ring onto the rightmost purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1189, "end_step": 1358, "id": "d72eb691-d63a-4b87-bccc-c4ab9a25b0fa"}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and leftward, reaching toward the left green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the left green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the left green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1359, "end_step": 1496, "id": "5230aaf8-7653-4810-a420-4b4624749818"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press_release: Right hand presses the green and white block down along the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1497, "end_step": 1604, "id": "b7da8abf-e9e5-41be-9650-a143336cae16"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1605, "end_step": 1744, "id": "dc44a208-30a6-4db2-b1e0-0e7f69b7f124"}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, fingers gradually open and separate from the ring."}, {"label": "goal", "start_step": 1745, "end_step": 1844, "id": "19c8f382-fc44-484f-b1e3-09178178e3e2"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, fingers closing around the object to adjust the grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal ring upward and leftward to the position right above the purple peg."}, {"label": "goal", "start_step": 1845, "end_step": 1948, "id": "e42182df-d782-4294-af32-ee8e7ea172bd"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white hexagonal ring down onto the purple peg to form an assembly relation."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the purple vertical rod on the wooden base and releases the piece."}, {"label": "goal", "start_step": 1949, "end_step": 2034, "id": "b9f56a7e-1b8f-46e3-8998-baf3ddcdf52c"}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 2035, "end_step": 2158, "id": "ceea21d3-dab1-4293-9a53-d7e8d0f98714"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the rightmost cylindrical peg on the wooden base."}, {"label": "goal", "start_step": 2159, "end_step": 2248, "id": "c475f0d4-ad2a-4700-ae32-e879615df992"}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the rightmost cylindrical peg, with fingers opening."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers closing and adjusting."}, {"label": "goal", "start_step": 2249, "end_step": 2372, "id": "57ea6389-45e9-4515-9b96-5f7f1bc403c3"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the rightmost white column by fitting its central hole onto the column until the block rests at the bottom of the column."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green cubic block by opening its fingers and separating from the block."}, {"label": "home", "start_step": 2436, "end_step": 2462, "id": "awA4b7R-R3VterOFyTv7O"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:flex_fingers: Left hand stays at the left side of the table, with fingers gradually flexing from an extended posture. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower area of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the rack by moving it downward."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases it."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the wooden rack, sliding the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden pegboard and releases the part."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring with the leftmost purple peg by fitting the ring onto the peg."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal ring down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting repeatedly to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the table."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward toward the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple peg and fits the block onto the bottom of the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:slide_block_up_peg: Right hand slides the white hexagonal block upward along the front purple peg while holding the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical ring onto the rightmost purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and leftward, reaching toward the left green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the left green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the left green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press_release: Right hand presses the green and white block down along the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, fingers gradually open and separate from the ring."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, fingers closing around the object to adjust the grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal ring upward and leftward to the position right above the purple peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white hexagonal ring down onto the purple peg to form an assembly relation."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the purple vertical rod on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the rightmost cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the rightmost cylindrical peg, with fingers opening."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the rightmost white column by fitting its central hole onto the column until the block rests at the bottom of the column."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green cubic block by opening its fingers and separating from the block."}], "episode_index": 12}
+{"source_uid": "a904828ac8ac231a", "num_frames": 3011, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed at the lower left of the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "497aa2a1-b508-4f8a-8dbe-885fa278034f"}, {"label": "valid", "start_step": 0, "end_step": 2981, "id": "4j689VM2I-4M6ubhDBsU4"}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 149, "end_step": 302, "id": "305a2481-3b01-4e6e-bef1-da6fb30062a6"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green block upwards to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block downwards along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block, separating fingers from the block."}, {"label": "goal", "start_step": 303, "end_step": 406, "id": "1ec0b203-ed6a-4a0c-8557-8439761d78f3"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the green block on the table."}, {"label": "goal", "start_step": 407, "end_step": 544, "id": "3d2e9d0f-8946-4fd7-a522-391b14c85eb1"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to fully fit onto the rod."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod of the wooden assembly base."}, {"label": "goal", "start_step": 545, "end_step": 652, "id": "66da3aa4-7a00-494a-a2cc-170598ca9f4b"}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it towards the wooden rack with purple rods."}, {"label": "goal", "start_step": 653, "end_step": 812, "id": "4b215b46-6d1f-4aed-9990-8d1b0e2b84b1"}, {"label": "subtasks", "start_step": 682, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 813, "end_step": 908, "id": "dd92ef84-74d2-4f4a-81e0-67bb111d914d"}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 909, "end_step": 1050, "id": "cf2a0181-95e9-479b-a144-d84db0b54d12"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white cylindrical block onto the purple rod on the wooden base until it is properly positioned."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1051, "end_step": 1142, "id": "7369deae-ae08-4a9e-8873-dc2559bc82c9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1143, "end_step": 1268, "id": "220019bb-fbfd-450d-90ef-eaaa0532b25b"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod on the wooden base, adjusting to fit it properly."}, {"label": "goal", "start_step": 1269, "end_step": 1378, "id": "afb96a62-d920-44aa-82bb-5c8e0c8db63d"}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1379, "end_step": 1490, "id": "87325dc0-218c-448d-b24c-fbfe7a979df8"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1602, "id": "ba12f1b5-7d1c-4775-9c17-f0cff88c6bd7"}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "goal", "start_step": 1603, "end_step": 1708, "id": "058f1cc5-840e-4638-beed-b3da40696f14"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 1709, "end_step": 1798, "id": "4350e358-cfe7-4589-bea6-a1824485f28d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1799, "end_step": 2638, "id": "bd5a010e-ec45-4d78-a512-2df2ede68620"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block, which falls onto the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the black table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2391, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats slightly from the white hexagonal block to adjust its position."}, {"label": "subtasks", "start_step": 2392, "end_step": 2504, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table again."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2624, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2639, "end_step": 2738, "id": "640136bb-9f6d-4543-94d1-1d0d5a24421d"}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2739, "end_step": 2936, "id": "b3f69438-8b05-41de-a271-41840c9f7cfc"}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it towards the white cylinder with purple core on the wooden base."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the white cylinder with purple core on the wooden base to fit it onto the cylinder."}, {"label": "subtasks", "start_step": 2858, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the white cylinder with purple core until it is fully fitted."}, {"label": "subtasks", "start_step": 2932, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block fitted on the white cylinder."}, {"label": "home", "start_step": 2982, "end_step": 3010, "id": "82WhwxkPE80UG5lY-cdn4"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed at the lower left of the wooden base on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green block upwards to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block downwards along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the green block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to fully fit onto the rod."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod of the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 682, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white cylindrical block onto the purple rod on the wooden base until it is properly positioned."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block, which falls onto the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the black table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2391, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats slightly from the white hexagonal block to adjust its position."}, {"label": "subtasks", "start_step": 2392, "end_step": 2504, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table again."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2624, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it towards the white cylinder with purple core on the wooden base."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the white cylinder with purple core on the wooden base to fit it onto the cylinder."}, {"label": "subtasks", "start_step": 2858, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the white cylinder with purple core until it is fully fitted."}, {"label": "subtasks", "start_step": 2932, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block fitted on the white cylinder."}], "episode_index": 13}
+{"source_uid": "bf5aca58627f50fb", "num_frames": 2470, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers held slightly open as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "d03d8289-a359-47ea-8b60-168019742e49"}, {"label": "valid", "start_step": 0, "end_step": 2445, "id": "BmG4xuZoH8CCF_idKovhO"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table surface, making small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the green block on the black table surface, lifts it upward away from the table, and moves it to a position directly above the target purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 153, "end_step": 392, "id": "2fb34724-00aa-424e-9b91-ee9b1d00f4e8"}, {"label": "subtasks", "start_step": 180, "end_step": 389, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand makes small continuous adjustments with fingers and wrist to align the green block's central hole with the purple peg, nesting the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand sets a white hexagonal block onto the purple rod of the wooden stand, releasing its grip once the block is stably supported by the rod."}, {"label": "goal", "start_step": 393, "end_step": 480, "id": "6fc1de44-b5d1-4356-8c2b-b759ddb6e84a"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to form a stable grip."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 481, "end_step": 638, "id": "d9d1329a-6bbd-4054-856d-a5e6e8d69401"}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the left purple rod, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the left purple rod without any observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg of the wooden pegboard, with fingers opening to disengage from the block."}, {"label": "goal", "start_step": 639, "end_step": 740, "id": "ae0fd9fb-90d3-4285-965b-f0db9f3cc6c8"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, adjusting finger contact points slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table surface until the block is completely off the table."}, {"label": "goal", "start_step": 741, "end_step": 878, "id": "1568aaa9-3513-48c5-9381-113f02cb26f8"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg rack, positioning the block above the target purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, makes slight orientation adjustments to the block, and lowers the block to slide it down the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden pegboard, fingers open to separate from the block."}, {"label": "goal", "start_step": 879, "end_step": 986, "id": "72686ef8-b560-4236-b69c-4f5f4c057f48"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface in front of the pegboard, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand contacts the top surface of the white hexagonal block on the table, fingers close and adjust contact positions to form a grip on the block."}, {"label": "goal", "start_step": 987, "end_step": 1150, "id": "0c0dc6c7-f190-42fb-9a20-1233f9b13a74"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the purple post below, and moves the block downward to fit onto the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the middle purple peg of the wooden pegboard, opens fingers to release the block and separate from the block surface."}, {"label": "goal", "start_step": 1151, "end_step": 1230, "id": "e9e7b124-c63a-4747-9e0b-d3ed1e2eba16"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the front-left green hexagonal block resting on the black table surface, fingers held slightly open, approaching the block without contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusts finger contact positions to establish a secure hold on the block."}, {"label": "goal", "start_step": 1231, "end_step": 1342, "id": "3bf4973c-1e6a-487c-9e56-a65a1eaad3d1"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: press: Right hand applies downward pressure on the green hexagonal block mounted on the purple peg of the wooden base, pressing the block down to a secured position."}, {"label": "goal", "start_step": 1343, "end_step": 1442, "id": "7225e655-49f8-4029-82db-b1f9da34d612"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table surface to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table support surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the black table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1443, "end_step": 1616, "id": "fcd31666-6765-4cd9-9a4c-3b604170a8f0"}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward to sleeve it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block sleeved on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening to loosen grip until the grip is released."}, {"label": "goal", "start_step": 1617, "end_step": 1770, "id": "dc2b1c76-4e8a-4991-9937-1ff64dbf2d11"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the closest white hexagonal block on the black table while remaining empty."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and toward the wooden pegboard, stopping directly above the purple vertical peg."}, {"label": "goal", "start_step": 1771, "end_step": 1898, "id": "1d2cceed-f0e5-4c25-ae13-4a77d1d0b1b6"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand lowers the white hexagonal block, aligns its central hole with the purple vertical peg, and fits the block onto the top of the existing stack on the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden pegboard without any movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden stand, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 1899, "end_step": 1992, "id": "564548d3-ee07-41b8-a36b-3d98fbaf2385"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1993, "end_step": 2148, "id": "e1893c1f-9f5a-45fb-9402-e58b909776cb"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward to fully raise it off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand transports the lifted white hexagonal nut horizontally toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod, slides it down the rod to complete assembly, opens fingers to release the nut onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block positioned on the purple post of the wooden base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 2149, "end_step": 2232, "id": "51920e5e-7b77-4ec2-b259-14b1fd4646bf"}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting contact positions to form a grasp."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand grips the green square block resting on the dark table surface and lifts the block upward until it fully separates from the table surface."}, {"label": "goal", "start_step": 2233, "end_step": 2376, "id": "2140b19d-8c59-4fa7-b0e4-5c1b1e925d27"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted green square block through the air toward the white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green square block with the target white cylindrical post, adjusting position to fit the block onto the post."}, {"label": "home", "start_step": 2446, "end_step": 2469, "id": "rdL15vHGDPjqa5o8Upfd9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table surface, making small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the green block on the black table surface, lifts it upward away from the table, and moves it to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 389, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand makes small continuous adjustments with fingers and wrist to align the green block's central hole with the purple peg, nesting the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand sets a white hexagonal block onto the purple rod of the wooden stand, releasing its grip once the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to form a stable grip."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the left purple rod, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the left purple rod without any observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg of the wooden pegboard, with fingers opening to disengage from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, adjusting finger contact points slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table surface until the block is completely off the table."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg rack, positioning the block above the target purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, makes slight orientation adjustments to the block, and lowers the block to slide it down the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden pegboard, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface in front of the pegboard, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand contacts the top surface of the white hexagonal block on the table, fingers close and adjust contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the purple post below, and moves the block downward to fit onto the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the middle purple peg of the wooden pegboard, opens fingers to release the block and separate from the block surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the front-left green hexagonal block resting on the black table surface, fingers held slightly open, approaching the block without contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusts finger contact positions to establish a secure hold on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: press: Right hand applies downward pressure on the green hexagonal block mounted on the purple peg of the wooden base, pressing the block down to a secured position."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table surface to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table support surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the black table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward to sleeve it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block sleeved on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening to loosen grip until the grip is released."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the closest white hexagonal block on the black table while remaining empty."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and toward the wooden pegboard, stopping directly above the purple vertical peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand lowers the white hexagonal block, aligns its central hole with the purple vertical peg, and fits the block onto the top of the existing stack on the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden pegboard without any movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden stand, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward to fully raise it off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand transports the lifted white hexagonal nut horizontally toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod, slides it down the rod to complete assembly, opens fingers to release the nut onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block positioned on the purple post of the wooden base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting contact positions to form a grasp."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand grips the green square block resting on the dark table surface and lifts the block upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted green square block through the air toward the white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green square block with the target white cylindrical post, adjusting position to fit the block onto the post."}], "episode_index": 14}
+{"source_uid": "78886b1c88e58c4f", "num_frames": 2232, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block located in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "df8062ba-f83c-4b5c-a6c3-3e6562782c34"}, {"label": "valid", "start_step": 0, "end_step": 2205, "id": "n51wlMaYCiSKTCJ5kG4wo"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes minor adjustments to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block stably without any observable movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple pillar on the wooden base."}, {"label": "goal", "start_step": 135, "end_step": 288, "id": "d76b6698-9054-4969-b915-fa2b4289441d"}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar, presses it downward to mate the block onto the pillar."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 289, "end_step": 392, "id": "28f090c7-f0e2-4b20-bee4-ef9888b17516"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it to above the left front purple peg on the wooden base."}, {"label": "goal", "start_step": 393, "end_step": 502, "id": "abce009a-5c4b-429f-a4ce-db444de77d3e"}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the left front purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white annular block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 503, "end_step": 594, "id": "6da6f5fd-1cf1-4725-abda-9c101902be6c"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish stable grip."}, {"label": "goal", "start_step": 595, "end_step": 710, "id": "6f245431-b6ed-4065-a7bf-0a23151a5c29"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 711, "end_step": 802, "id": "51ce9c62-f1f9-4fe4-9077-a7ac082640bf"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 803, "end_step": 896, "id": "c3f3fdb1-59bc-4ca5-8124-078f20ecdc72"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical post by aligning its central hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical post without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 897, "end_step": 1006, "id": "b422b8f1-cc0b-46c6-8675-03be9eaf966a"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1007, "end_step": 1114, "id": "6f38747e-15f4-466a-b4d8-b36852f34d64"}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "goal", "start_step": 1115, "end_step": 1236, "id": "7ae2638b-35b8-4b66-92d7-73c852f99d92"}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1237, "end_step": 1356, "id": "79027039-803a-49b8-a205-d0ce8c2c2f1e"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1357, "end_step": 1448, "id": "e33c2217-2924-46f1-824e-2bfeafbc5524"}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1449, "end_step": 1546, "id": "60fca84a-e50e-484f-bcb0-ff37183e7ea3"}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving downward until the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1547, "end_step": 1772, "id": "f28fd280-d181-469a-a300-714bad725289"}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, without touching the block yet."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal block slightly to adjust its orientation, the block's position keeps almost unchanged."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1773, "end_step": 1902, "id": "aff6a6cc-6193-4178-94e9-3637e384da4d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1903, "end_step": 2014, "id": "b3e6c3d8-9779-4e90-8d35-3c40aee9675c"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2015, "end_step": 2160, "id": "6a5894c9-8960-4534-8a70-d646d6552c18"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the white bottle with purple top and presses the green block down onto the bottle."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand starts to release the green block fixed on the white bottle."}, {"label": "home", "start_step": 2206, "end_step": 2231, "id": "V76hZDhLTEAjC0pa5qs_V"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block located in front of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes minor adjustments to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block stably without any observable movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar, presses it downward to mate the block onto the pillar."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it to above the left front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the left front purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white annular block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical post by aligning its central hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical post without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving downward until the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, without touching the block yet."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal block slightly to adjust its orientation, the block's position keeps almost unchanged."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the white bottle with purple top and presses the green block down onto the bottle."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand starts to release the green block fixed on the white bottle."}], "episode_index": 15}
+{"source_uid": "cc53b8203f3de561", "num_frames": 2047, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right home position without obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "52a73eba-aeed-411a-a461-4037bb6d03dc"}, {"label": "valid", "start_step": 0, "end_step": 2023, "id": "lgN2FCvF8JNqsQcF0pV-W"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves left and downward from the right home position toward the green hexagonal block placed in front of the wooden stand, with fingers slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers and adjusts contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 141, "end_step": 266, "id": "8d476ca8-607a-461a-a519-d414c2b97f05"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the black table surface and moves it to a position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the assembled block."}, {"label": "goal", "start_step": 267, "end_step": 380, "id": "7818439e-bd4d-47c9-8884-125630372952"}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers gradually to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface while maintaining a firm grip on the block."}, {"label": "goal", "start_step": 381, "end_step": 492, "id": "d97b60ab-bfe4-4579-a6d8-1e48a9392de2"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without any visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand holds the white hexagonal block partially fitted on the purple peg, moves it downward until it rests stably on the green block below on the wooden pegboard."}, {"label": "goal", "start_step": 493, "end_step": 588, "id": "1d9c8c40-7b6b-465f-8f49-bb57f40c6f77"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand, now empty, moves downward and away from the wooden pegboard toward the nearby white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes its fingers around the block with small positional adjustments of the fingers and wrist to form a secure grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, lifts the block upward until it is fully separated from the table."}, {"label": "goal", "start_step": 589, "end_step": 750, "id": "08f83561-6675-4936-8710-58dc442e5fdd"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and forward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple rod, fitting the block onto the top of the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand guides the white hexagonal block downward along the purple rod with minor positional adjustments, until the block rests stably on the stacked block below on the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack, approaching the white hexagonal nut placed on the black table surface near the rack."}, {"label": "goal", "start_step": 751, "end_step": 834, "id": "2c8a74bb-8521-4867-8bf7-345c8cb4720f"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, adjusts finger positions gradually and closes fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block on the table surface, lifting it upward."}, {"label": "goal", "start_step": 835, "end_step": 996, "id": "43dabf84-b0b0-43b7-b239-a4f727ef7eab"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple post, lowering the block to fit it onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base until the block rests stably on the peg, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 997, "end_step": 1086, "id": "a3b8ad8d-2074-422d-ac10-a54ef7809c7d"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface, maintaining the block's vertical orientation."}, {"label": "goal", "start_step": 1087, "end_step": 1202, "id": "d426833f-383f-4270-b7b3-dcb02d099708"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped green block over the purple peg on the wooden stand and lowers it onto the peg to rest on the underlying white block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to finger positions on the green block to stabilize its fit on the purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the green block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1203, "end_step": 1288, "id": "30bb7771-e54d-4563-b092-5514f5520114"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "goal", "start_step": 1289, "end_step": 1410, "id": "a3bfc859-d35c-4e3d-8008-e7c991646a29"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal cap on the purple rod of the wooden rack, fingers opening and lifting away from the cap surface."}, {"label": "goal", "start_step": 1411, "end_step": 1520, "id": "120a05c3-0598-4279-b9fb-21df099bdc0b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty from the wooden rack area toward the upper white hexagonal nut on the black table, approaching the target object."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the black table, adjusting finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 1521, "end_step": 1610, "id": "6ee07683-42bb-4faf-95a4-bacd272224bc"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top end of the purple rod for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white hexagonal column, moves downward to set the column onto the purple rod of the wooden base, with fingers opening to release the column as the column becomes supported by the base."}, {"label": "goal", "start_step": 1611, "end_step": 1712, "id": "36e82ed9-3ce6-4123-a182-23f2e6218a09"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut on the black table beside the green block, approaching the nut without establishing a grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position above the purple vertical post on the wooden block base."}, {"label": "goal", "start_step": 1713, "end_step": 1790, "id": "7939757d-e765-4ec2-81cb-f4ff5c02d3c3"}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical post on the wooden base, lowers the block to fit onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand positions the white circular ring along the purple rod onto the top of the front-right white bottle on the wooden tray and releases the ring with open fingers."}, {"label": "goal", "start_step": 1791, "end_step": 1876, "id": "93c5f4fc-b3c9-4810-9b9b-e9ffb90de44b"}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty with slightly open fingers from the area above the wooden tray down toward the green square block on the lower right table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers to make contact with the green square block on the table, adjusting contact points to form a grasp."}, {"label": "goal", "start_step": 1877, "end_step": 1978, "id": "c132f784-7e2e-4626-b3a7-2b407f646c2d"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple peg on the wooden rack, positioning it for assembly."}, {"label": "home", "start_step": 2024, "end_step": 2046, "id": "cjTERGTwy-ugP00akCdAK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right home position without obvious overall displacement."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves left and downward from the right home position toward the green hexagonal block placed in front of the wooden stand, with fingers slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers and adjusts contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the black table surface and moves it to a position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the assembled block."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers gradually to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface while maintaining a firm grip on the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without any visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand holds the white hexagonal block partially fitted on the purple peg, moves it downward until it rests stably on the green block below on the wooden pegboard."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand, now empty, moves downward and away from the wooden pegboard toward the nearby white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes its fingers around the block with small positional adjustments of the fingers and wrist to form a secure grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and forward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple rod, fitting the block onto the top of the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand guides the white hexagonal block downward along the purple rod with minor positional adjustments, until the block rests stably on the stacked block below on the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack, approaching the white hexagonal nut placed on the black table surface near the rack."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, adjusts finger positions gradually and closes fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block on the table surface, lifting it upward."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple post, lowering the block to fit it onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base until the block rests stably on the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface, maintaining the block's vertical orientation."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped green block over the purple peg on the wooden stand and lowers it onto the peg to rest on the underlying white block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to finger positions on the green block to stabilize its fit on the purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal cap on the purple rod of the wooden rack, fingers opening and lifting away from the cap surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty from the wooden rack area toward the upper white hexagonal nut on the black table, approaching the target object."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the black table, adjusting finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top end of the purple rod for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white hexagonal column, moves downward to set the column onto the purple rod of the wooden base, with fingers opening to release the column as the column becomes supported by the base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut on the black table beside the green block, approaching the nut without establishing a grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position above the purple vertical post on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical post on the wooden base, lowers the block to fit onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand positions the white circular ring along the purple rod onto the top of the front-right white bottle on the wooden tray and releases the ring with open fingers."}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty with slightly open fingers from the area above the wooden tray down toward the green square block on the lower right table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers to make contact with the green square block on the table, adjusting contact points to form a grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple peg on the wooden rack, positioning it for assembly."}], "episode_index": 16}
+{"source_uid": "d55e63faf3a42080", "num_frames": 2055, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand returns to the home position at the left side of the table, moving slightly rightward and adjusting its finger posture. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "935b917d-3a5b-4033-8abc-20087f02dbbf"}, {"label": "valid", "start_step": 0, "end_step": 2028, "id": "-d0aGwdmglyEBsAdBWXtE"}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white nut with green base on the leftmost purple rod, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand moves the white nut with green base downward along the leftmost purple rod to the lower position near the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 133, "end_step": 338, "id": "d62cc4b4-4c40-40e9-8683-5f0d34a80186"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple pegs of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_press: Right hand inserts the green hexagonal block onto the front-left purple peg of the wooden rack and presses it downward along the peg gradually."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 339, "end_step": 442, "id": "43e31c5b-f964-4b5d-b305-63a1b8fad56c"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 443, "end_step": 548, "id": "19eb058c-d486-42fe-b0f3-50a213b4119e"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 549, "end_step": 634, "id": "0d5c54a2-b280-43d5-a384-419eb6992c95"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 635, "end_step": 750, "id": "8d0519d4-885b-46f1-8068-a93c89ee5d59"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 751, "end_step": 846, "id": "d935d0e6-1d77-4823-94b6-37f48ac6c947"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part from the black table surface."}, {"label": "goal", "start_step": 847, "end_step": 944, "id": "dadeaa30-91bf-4954-90de-eb4ce21d6be5"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal part toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 945, "end_step": 1024, "id": "9e3187c9-80d2-4856-b42a-8c84666d6708"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the green hollow block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the green block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1025, "end_step": 1126, "id": "02a3b0b1-e67c-4af8-a610-d4c123d5ee57"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the right purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the green block onto the right purple rod of the wooden rack, releasing it afterward."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach_grasp: Right hand reaches toward the top-right white cylinder on the wooden rack and initiates grasping."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden board and releases the ring."}, {"label": "goal", "start_step": 1127, "end_step": 1212, "id": "79dff54e-7a68-43bb-88ec-ea4d177aa5f4"}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the right table and lifts it off the table surface."}, {"label": "goal", "start_step": 1213, "end_step": 1354, "id": "270e5660-877a-44e2-b6b8-b9565aad6ef2"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1355, "end_step": 1444, "id": "25c9f8c6-c145-4dd6-a5e9-0302a5c6dda4"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1445, "end_step": 1572, "id": "2da9f476-667b-409f-a50a-4e929ef24bdc"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1573, "end_step": 1658, "id": "9b934ba8-e817-48d2-bce5-a554a8440e1a"}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with closing fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from the right area of the table to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1659, "end_step": 1770, "id": "8fbd7995-486d-4a77-be19-4a79c5d086c7"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with purple cap on the wooden base."}, {"label": "goal", "start_step": 1771, "end_step": 1854, "id": "b9d318b1-9cd0-4437-a8c8-51443eab80bf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green holed square block on the right side of the black table without moving."}, {"label": "goal", "start_step": 1855, "end_step": 1974, "id": "20d72c64-6002-43d8-aec7-49e87817f627"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block off the table and moves it to above the rightmost post of the block rack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the rightmost post and fits it onto the post for assembly."}, {"label": "home", "start_step": 2029, "end_step": 2054, "id": "nPMO2BtED4pkbe_TOETlu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand returns to the home position at the left side of the table, moving slightly rightward and adjusting its finger posture. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white nut with green base on the leftmost purple rod, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand moves the white nut with green base downward along the leftmost purple rod to the lower position near the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple pegs of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_press: Right hand inserts the green hexagonal block onto the front-left purple peg of the wooden rack and presses it downward along the peg gradually."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part from the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal part toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the green hollow block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the green block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the right purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the green block onto the right purple rod of the wooden rack, releasing it afterward."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach_grasp: Right hand reaches toward the top-right white cylinder on the wooden rack and initiates grasping."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden board and releases the ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the right table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with closing fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from the right area of the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green holed square block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block off the table and moves it to above the rightmost post of the block rack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the rightmost post and fits it onto the post for assembly."}], "episode_index": 17}
+{"source_uid": "b29d31357632df10", "num_frames": 2464, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves forward from the left side of the table towards the center operation area. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the tabletop in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "ea985117-7ed6-494a-bf2e-f25dc0c64bf1"}, {"label": "valid", "start_step": 0, "end_step": 2432, "id": "L58UrE5Yh45UnYoY2ynE6"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the 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"end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block onto the target purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 339, "end_step": 442, "id": "fd62cd1f-e366-4ca9-adeb-6638df071cb1"}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the top of the leftmost purple post on the wooden rack."}, {"label": "goal", "start_step": 443, "end_step": 602, "id": "6af9db82-ff45-4f02-b5cf-25fabb29f6ea"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple post by pressing down to insert the post into the block's hole."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white annular block onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 798, "id": "55076d9e-6b76-4e6d-9454-0a60e2b743d6"}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 799, "end_step": 932, "id": "6c43eef4-740b-4f8f-9416-aa243b2f2bc3"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit properly."}, {"label": "goal", "start_step": 933, "end_step": 1096, "id": "0d5b87c6-60b4-4ede-8ba1-c9f3dec7ff64"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp_lift: Right hand adjusts fingers to form stable grasp on the white hexagonal block, then lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface, moving it to above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1097, "end_step": 1194, "id": "74aac976-c978-4a08-b123-8db3b78bc5cb"}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1195, "end_step": 1298, "id": "737c5d6f-012a-41a9-a184-2f64489ff0b0"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block, with fingers closing around the block."}, {"label": "goal", "start_step": 1299, "end_step": 1412, "id": "17b45dfe-f33a-4881-8c81-fa0c5000dd21"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block down along the peg until it is stably supported."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the rightmost white peg of the wooden base without any movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1413, "end_step": 1522, "id": "f7320bc7-67ec-41e7-b1db-240d75059ed7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 1523, "end_step": 1690, "id": "d8418df0-4336-4511-b55d-f48d02667867"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1691, "end_step": 1776, "id": "22f6d0fd-09a4-4322-8383-e2c7008ea73b"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "goal", "start_step": 1777, "end_step": 1884, "id": "de197c72-545f-4c0d-9148-381fc5e0b97c"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1885, "end_step": 1994, "id": "6e228e71-dc6a-4f33-a865-b74f70ad2951"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to prepare for grasping the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base with cylindrical pegs."}, {"label": "goal", "start_step": 1995, "end_step": 2126, "id": "5f69dc8f-2934-4402-989a-b1908b24269d"}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2127, "end_step": 2228, "id": "01bc61b1-af82-4abc-aec6-0361eae3761c"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2229, "end_step": 2374, "id": "bd436ced-5ab7-4b12-9cfc-f7e066aab781"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block towards the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down onto the rightmost white pillar to fit it in place."}, {"label": "home", "start_step": 2433, "end_step": 2463, "id": "NOmMR5B-PFRVQMCtuNCJX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves forward from the left side of the table towards the center operation area. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block onto the target purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the top of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple post by pressing down to insert the post into the block's hole."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white annular block onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit properly."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp_lift: Right hand adjusts fingers to form stable grasp on the white hexagonal block, then lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface, moving it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block down along the peg until it is stably supported."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the rightmost white peg of the wooden base without any movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to prepare for grasping the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base with cylindrical pegs."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block towards the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down onto the rightmost white pillar to fit it in place."}], "episode_index": 18}
+{"source_uid": "43cb7bf3326ac0ad", "num_frames": 2204, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal nut adjacent to the wooden peg board with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "6fc96750-6631-4f8b-ba87-39bb531528b0"}, {"label": "valid", "start_step": 0, "end_step": 2176, "id": "mCCXyb55OIoGm_WRzTCwz"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal nut adjacent to the wooden peg board to establish a grip."}, {"label": "goal", "start_step": 127, "end_step": 216, "id": "4a6c906b-e95f-4e7e-94dd-07979f8b325d"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block fully away from the black table support surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple peg on the wooden rack, aligns the block's central hole with the peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden rack, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the purple peg, allowing the block to fall down to the table surface."}, {"label": "goal", "start_step": 217, "end_step": 556, "id": "cd4eebc9-20f9-4829-b6aa-38f9e60b341b"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block placed on the table, approaching the target object."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to a position close to the wooden assembly base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the white hexagonal block until it rests on the table surface near the wooden assembly base, supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table near the wooden assembly base without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table again, moves it toward the left purple peg on the wooden base, and slightly rotates the wrist to adjust the block's orientation."}, {"label": "goal", "start_step": 557, "end_step": 674, "id": "0dbca1f2-4a9b-40d6-b26c-e10ddd85ba2a"}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand holds the white hexagonal part, makes slight positional and rotational adjustments to align its central hole with the purple peg, and moves the part downward to fit onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden base without visible movement."}, {"label": "goal", "start_step": 675, "end_step": 772, "id": "50fe0f5b-db24-4766-bae3-7020fdde8b64"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg, moving downward toward the white hexagonal block on the nearby table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is fully separated from the table."}, {"label": "goal", "start_step": 773, "end_step": 858, "id": "b3b6388c-9c4f-4124-a863-8e9fdd7917d9"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand makes small positional adjustments to the white hexagonal nut to align its central hollow hole with the target purple peg for assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple peg until the nut rests stably on the underlying green support block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the top of the stacked block assembly on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 859, "end_step": 950, "id": "52f0f3be-1587-442c-95a4-cd06bbf87ace"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with no contact with the target block."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1030, "id": "2507d67c-d5a6-48db-90e0-bdc3b492f403"}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block onto the rod with slight finger adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, and releases the block once the block is supported by the lower block."}, {"label": "goal", "start_step": 1031, "end_step": 1122, "id": "f78223fb-d991-4e8a-bd56-6606f84c129d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1123, "end_step": 1270, "id": "1fc1d4d7-6a01-43a4-820f-86427414e3fd"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, makes small positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 1271, "end_step": 1390, "id": "63b9fbf9-3104-472c-94d7-10f28a8b0c51"}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the front white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the front white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the dark table surface, and transports it to the position directly above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1391, "end_step": 1508, "id": "aff5e3d5-82db-4b56-8336-8da9487a03e5"}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod, moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block from its grip."}, {"label": "goal", "start_step": 1509, "end_step": 1604, "id": "6ef9f55b-5fe7-4ea0-93aa-91266481fe70"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the stacked block on the wooden base, with fingers opening to release the block once it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block resting on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, adjusting finger positions to close around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table and lifts it upward until the block is completely off the table surface."}, {"label": "goal", "start_step": 1605, "end_step": 1716, "id": "034fcb6f-4dc7-43e7-9547-f703dd2f49df"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand holds the lifted white hexagonal block, moves it leftward to the position above the purple rod on the wooden base, and aligns and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple rod of the wooden block set."}, {"label": "goal", "start_step": 1717, "end_step": 1806, "id": "6c9c40a7-dc3e-4c8a-8116-e0a0c2af1a78"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward and rightward with an empty hand toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the table surface without moving."}, {"label": "goal", "start_step": 1807, "end_step": 1924, "id": "5d2c54b3-8b2e-4548-b774-5dce45c702cc"}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base and moves it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to rest on the lower white block on the wooden base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1925, "end_step": 2014, "id": "b27eb5a4-6166-4348-888e-0945047d7a89"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward empty from the block assembly, approaching the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the green block resting on the black table surface and lifts it upward, until the block is fully lifted off the table at the end of the segment."}, {"label": "goal", "start_step": 2015, "end_step": 2136, "id": "cceef1d6-71e8-496f-b60a-e7a61f378926"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted green block and moves it leftward to the position directly above the purple peg on the wooden block rack, with slight position adjustment for alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green block stationary above the purple peg on the wooden rack without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate_release: Right hand moves the green block downward to align its central hole with the purple peg, slides the block onto the peg until it rests on the underlying white block, opens its fingers to release the block which stays stable on the peg."}, {"label": "home", "start_step": 2177, "end_step": 2203, "id": "Ui0h2bpsxZfotB26S8Biy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal nut adjacent to the wooden peg board with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal nut adjacent to the wooden peg board to establish a grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block fully away from the black table support surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple peg on the wooden rack, aligns the block's central hole with the peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden rack, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the purple peg, allowing the block to fall down to the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block placed on the table, approaching the target object."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to a position close to the wooden assembly base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the white hexagonal block until it rests on the table surface near the wooden assembly base, supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table near the wooden assembly base without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table again, moves it toward the left purple peg on the wooden base, and slightly rotates the wrist to adjust the block's orientation."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand holds the white hexagonal part, makes slight positional and rotational adjustments to align its central hole with the purple peg, and moves the part downward to fit onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden base without visible movement."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg, moving downward toward the white hexagonal block on the nearby table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand makes small positional adjustments to the white hexagonal nut to align its central hollow hole with the target purple peg for assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple peg until the nut rests stably on the underlying green support block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the top of the stacked block assembly on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with no contact with the target block."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block onto the rod with slight finger adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, and releases the block once the block is supported by the lower block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, makes small positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the front white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the front white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the dark table surface, and transports it to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod, moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the stacked block on the wooden base, with fingers opening to release the block once it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block resting on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, adjusting finger positions to close around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table and lifts it upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand holds the lifted white hexagonal block, moves it leftward to the position above the purple rod on the wooden base, and aligns and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward and rightward with an empty hand toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the table surface without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base and moves it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to rest on the lower white block on the wooden base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward empty from the block assembly, approaching the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the green block resting on the black table surface and lifts it upward, until the block is fully lifted off the table at the end of the segment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted green block and moves it leftward to the position directly above the purple peg on the wooden block rack, with slight position adjustment for alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green block stationary above the purple peg on the wooden rack without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate_release: Right hand moves the green block downward to align its central hole with the purple peg, slides the block onto the peg until it rests on the underlying white block, opens its fingers to release the block which stays stable on the peg."}], "episode_index": 19}
+{"source_uid": "54fe4f50d17f2835", "num_frames": 2316, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: idle: Right hand stays empty at the right initial position above the table, with only minor finger adjustments and no obvious overall movement toward workspace objects."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "ea3893d9-2f84-4812-9bf6-4dd9ab3f2494"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "xNxQeXjGvpSJOikTnOvWE"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward and toward the green hexagonal block adjacent to the wooden peg board, with fingers slightly curved as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the target green hexagonal block to establish a grip."}, {"label": "goal", "start_step": 147, "end_step": 258, "id": "bbca099b-e50a-4df2-8802-cff5e0cf6945"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moving it upward and toward the purple post on the wooden assembly base until the block hovers directly above the post."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it snugly onto the post."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand moves downward to seat the white hexagonal block onto the purple peg of the wooden pegboard, opening fingers to release the fully seated block."}, {"label": "goal", "start_step": 259, "end_step": 342, "id": "784c6cd8-5777-4065-94ce-31ac22b49bbc"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black work surface below the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger contact positions to establish a secure grip on the block."}, {"label": "goal", "start_step": 343, "end_step": 460, "id": "1ff0b34d-8f0a-4e7b-aab0-52780494fd9e"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut to fit onto the peg and adjusts slightly to seat it properly."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press_release: Right hand holds the white-topped green hexagonal block, presses it vertically down to seat it on the leftmost purple peg of the wooden base, and releases the seated block."}, {"label": "goal", "start_step": 461, "end_step": 566, "id": "46844c2a-b465-48b3-bb63-bb14226f90b4"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and forward from the wooden peg board toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand positions fingers around the target white hexagonal block on the table, closing and adjusting fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds a white hexagonal block resting on the black table surface without visible movement."}, {"label": "goal", "start_step": 567, "end_step": 690, "id": "85bb23c0-d139-4c87-9f4f-c4553ede1734"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above a purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple peg, and slides the block down the peg to fit onto the rack with small wrist and finger adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press: Right hand presses down on the top surfaces of the white cylindrical blocks on the pegs to seat them fully onto the wooden assembly base."}, {"label": "goal", "start_step": 691, "end_step": 770, "id": "af65aadf-4c88-48a2-ac59-367b5de0721c"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut located directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to establish a grip."}, {"label": "goal", "start_step": 771, "end_step": 892, "id": "d423a793-0c20-4419-93c2-4cc47b70440f"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, then slides the nut down along the rod to complete the assembly alignment."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block onto the purple rod of the wooden base until the block is supported by the base, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 893, "end_step": 980, "id": "f8152609-e042-489b-aa69-428638ca64d7"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until the block completely leaves the black table surface."}, {"label": "goal", "start_step": 981, "end_step": 1080, "id": "f53338a9-7545-49c3-a445-f15331a6f32c"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green hexagonal block through the air to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical rod, fits the block onto the rod, opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the green hexagonal block, slightly adjusts its position and orientation, aligns it with the purple rod on the wooden base, and fits the block onto the rod."}, {"label": "goal", "start_step": 1081, "end_step": 1476, "id": "0632d2c3-1f98-4cd0-959b-9b420a348fdd"}, {"label": "subtasks", "start_step": 1230, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block that is fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: release: Right hand opens its fingers gradually to release the green hexagonal block on the purple rod, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty from the rod area toward the white hexagonal block placed on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, separating the block completely from the table surface."}, {"label": "goal", "start_step": 1477, "end_step": 1656, "id": "cd97608f-5ef9-4609-9cce-cee875ad10f5"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal block in mid-air and moves it diagonally up and left to position it directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central opening with the purple post, and lowers the block to fit it onto the post with minor wrist and finger adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the stacked column on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1657, "end_step": 1744, "id": "a19b3206-d80a-4641-9cb5-73712fc10b17"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block."}, {"label": "goal", "start_step": 1745, "end_step": 1852, "id": "af726b0c-a719-4ca8-af45-2f5bdde6c0c0"}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple rod of the wooden base, releases fingers to separate from the seated block."}, {"label": "goal", "start_step": 1853, "end_step": 1934, "id": "db8a3bba-0416-4ca2-b622-86d6f7b699e9"}, {"label": "subtasks", "start_step": 1882, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward-right toward the white hexagonal block on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, adjusts finger contact positions to form a secure grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it to the position above the empty slot on the wooden block rack."}, {"label": "goal", "start_step": 1935, "end_step": 2042, "id": "1192f987-3091-4027-869b-ba0e7a296b8b"}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place: Right hand lowers the aligned white hexagonal block into the empty slot on the wooden rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, lowers it into the empty slot on the wooden bottle tray, seats the bottle fully on the tray support, and opens fingers to release grip on the bottle."}, {"label": "goal", "start_step": 2043, "end_step": 2134, "id": "7bb37b7f-cedf-4a4f-bbb4-2006027be44d"}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green cube, approaching the cube with fingers held slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the small green cube resting on the black table, adjusting finger position to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped small green cube upward, raising the cube completely off the black table surface while maintaining a stable hold."}, {"label": "goal", "start_step": 2135, "end_step": 2234, "id": "cf4b7b7f-4cb1-4f7c-8698-4220f87a6d96"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green cubic block through the air to the position directly above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple-topped bottle and moves the block downward to fit onto the bottle top."}, {"label": "home", "start_step": 2290, "end_step": 2315, "id": "yBpPEwTM6IkAnDFu0pD9I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: idle: Right hand stays empty at the right initial position above the table, with only minor finger adjustments and no obvious overall movement toward workspace objects."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward and toward the green hexagonal block adjacent to the wooden peg board, with fingers slightly curved as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the target green hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moving it upward and toward the purple post on the wooden assembly base until the block hovers directly above the post."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it snugly onto the post."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand moves downward to seat the white hexagonal block onto the purple peg of the wooden pegboard, opening fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black work surface below the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger contact positions to establish a secure grip on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut to fit onto the peg and adjusts slightly to seat it properly."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press_release: Right hand holds the white-topped green hexagonal block, presses it vertically down to seat it on the leftmost purple peg of the wooden base, and releases the seated block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and forward from the wooden peg board toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand positions fingers around the target white hexagonal block on the table, closing and adjusting fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds a white hexagonal block resting on the black table surface without visible movement."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above a purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple peg, and slides the block down the peg to fit onto the rack with small wrist and finger adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press: Right hand presses down on the top surfaces of the white cylindrical blocks on the pegs to seat them fully onto the wooden assembly base."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut located directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to establish a grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, then slides the nut down along the rod to complete the assembly alignment."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block onto the purple rod of the wooden base until the block is supported by the base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until the block completely leaves the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green hexagonal block through the air to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical rod, fits the block onto the rod, opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the green hexagonal block, slightly adjusts its position and orientation, aligns it with the purple rod on the wooden base, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block that is fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: release: Right hand opens its fingers gradually to release the green hexagonal block on the purple rod, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty from the rod area toward the white hexagonal block placed on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal block in mid-air and moves it diagonally up and left to position it directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central opening with the purple post, and lowers the block to fit it onto the post with minor wrist and finger adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the stacked column on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple rod of the wooden base, releases fingers to separate from the seated block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward-right toward the white hexagonal block on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, adjusts finger contact positions to form a secure grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place: Right hand lowers the aligned white hexagonal block into the empty slot on the wooden rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, lowers it into the empty slot on the wooden bottle tray, seats the bottle fully on the tray support, and opens fingers to release grip on the bottle."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green cube, approaching the cube with fingers held slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the small green cube resting on the black table, adjusting finger position to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped small green cube upward, raising the cube completely off the black table surface while maintaining a stable hold."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green cubic block through the air to the position directly above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple-topped bottle and moves the block downward to fit onto the bottle top."}], "episode_index": 20}
+{"source_uid": "d2b1b7057066da67", "num_frames": 2740, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block at the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 144, "id": "1829065e-031b-4197-acfe-2743e2ea2a51"}, {"label": "valid", "start_step": 0, "end_step": 2716, "id": "WYD0Amlx3B71V1IeqnEnO"}, {"label": "subtasks", "start_step": 45, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block at the front left of the wooden base."}, {"label": "goal", "start_step": 145, "end_step": 282, "id": "d5100578-1f7e-42f6-9375-7daaf7330d4e"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post above the green block on the wooden base."}, {"label": "goal", "start_step": 283, "end_step": 384, "id": "c8348fe5-5540-4fdc-afc9-a3d26044bce6"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 385, "end_step": 612, "id": "36f2bace-96ba-417b-bdbd-b8f026db5fe5"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 613, "end_step": 710, "id": "bc967ca1-e76d-4e74-8717-f9e873d9e2c2"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 711, "end_step": 816, "id": "8dc1edb3-f4b9-47fa-8c54-217f8fb69c4f"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the vertical rod on the wooden base."}, {"label": "goal", "start_step": 817, "end_step": 1282, "id": "125ef7f8-8328-477c-88d0-50393a805509"}, {"label": "subtasks", "start_step": 840, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts and closes fingers to form a stable grasp on the white ring on the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white ring upward away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green support block on the table."}, {"label": "goal", "start_step": 1283, "end_step": 1522, "id": "f8cf8619-3d00-4e62-b2ca-1e0fffa13fef"}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to stabilize the object."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green support and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1523, "end_step": 1636, "id": "99faa350-1390-4bae-9526-b7582274a981"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing around the object."}, {"label": "goal", "start_step": 1637, "end_step": 1762, "id": "667d6ab4-d7f8-4617-91d7-386672dbd2f4"}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the white post on the wooden base."}, {"label": "goal", "start_step": 1763, "end_step": 1866, "id": "d8dcaad8-69f4-4949-a6b4-a3192d1dc5ad"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylinder towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1867, "end_step": 2024, "id": "b5e49c25-1091-4ef0-80ff-46a6b9ca9a2c"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white annular block onto the peg of the wooden base."}, {"label": "goal", "start_step": 2025, "end_step": 2112, "id": "1f4e331a-af9f-4e89-a608-c34a01929a40"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white annular block on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white annular block on the black table surface by closing fingers."}, {"label": "goal", "start_step": 2113, "end_step": 2198, "id": "fadc14e9-5ad1-4a00-9b88-9ec7bee567ce"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 2199, "end_step": 2290, "id": "9ce1bef7-f225-4663-b79e-0bc147a5e561"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp around the white ring on the black table surface."}, {"label": "goal", "start_step": 2291, "end_step": 2370, "id": "2124f49d-ac9c-457b-b6bc-774be291dd5d"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "goal", "start_step": 2371, "end_step": 2462, "id": "16f193c4-9064-4cce-aa5e-746c6b9b636a"}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black tabletop."}, {"label": "goal", "start_step": 2463, "end_step": 2668, "id": "ec04017b-38d3-4c65-aa4d-4c693b1f506a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to align it with the top of the target white bottle."}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle and presses it to fit."}, {"label": "subtasks", "start_step": 2662, "end_step": 2669, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block placed on the white bottle."}, {"label": "home", "start_step": 2717, "end_step": 2739, "id": "x9tA-8CE6eW9mPlPcu-6R"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block at the front left of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block at the front left of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post above the green block on the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts and closes fingers to form a stable grasp on the white ring on the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white ring upward away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green support block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to stabilize the object."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green support and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the white post on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylinder towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white annular block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white annular block on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white annular block on the black table surface by closing fingers."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp around the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black tabletop."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to align it with the top of the target white bottle."}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle and presses it to fit."}, {"label": "subtasks", "start_step": 2662, "end_step": 2669, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block placed on the white bottle."}], "episode_index": 21}
+{"source_uid": "0ce6abbf3eaa6a9b", "num_frames": 2033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut placed in front of the wooden peg block, approaching the target with an open hand."}, {"label": "goal", "start_step": 0, "end_step": 156, "id": "6cae4bcb-2c17-44b6-98fc-d52f981b50b4"}, {"label": "valid", "start_step": 0, "end_step": 2008, "id": "8Ctvu6C8BIrmUieuuoxDe"}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closes fingers and adjusts wrist and finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the green hexagonal block and moves it upward toward the purple posts on the wooden base."}, {"label": "goal", "start_step": 157, "end_step": 242, "id": "5077f7ca-d9e2-4158-a382-32d037a82ed6"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with a purple post on the wooden base and lowers it to fit the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns and presses the white cylindrical cap onto the purple peg of the wooden pegboard to seat it fully in place."}, {"label": "goal", "start_step": 243, "end_step": 334, "id": "9c6e45e2-e775-49b1-bc7d-84f0f99e5df5"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the white hexagonal block on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to form a stable hold, with the block remaining on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the unoccupied purple assembly post fixed on the wooden block base."}, {"label": "goal", "start_step": 335, "end_step": 420, "id": "8a90c016-62ff-42e9-9e14-993bb58fc556"}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple post, slides the nut downward along the post to place it steadily onto the green hexagonal block at the post base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple rod of the wooden base, opens fingers to release the block so it rests stably on the lower green block."}, {"label": "goal", "start_step": 421, "end_step": 512, "id": "f661113d-0777-40d1-8bd9-36807d3f050c"}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the black table surface, fingers held slightly spread during the movement."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the object."}, {"label": "goal", "start_step": 513, "end_step": 618, "id": "3f460db5-2559-47ed-8251-cdd699ae2cda"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal part off the table surface, moves it upward and toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg on the wooden rack, lowers the part to fit it onto the peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the mated white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal part on the purple peg."}, {"label": "goal", "start_step": 619, "end_step": 738, "id": "418457b1-ad54-4194-a901-dc7e85ea4c24"}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward with empty fingers toward the loose white hexagonal block positioned in front of the wooden block stand."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block in front of the wooden block stand to establish a grip, with slight finger adjustments visible."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 739, "end_step": 842, "id": "691a7298-7846-4365-b02c-c5f875df833b"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple rod, and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut mounted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the table, with fingers open and extended, approaching the target without making contact."}, {"label": "goal", "start_step": 843, "end_step": 936, "id": "02c6f834-eb5e-4659-81b7-2104cca67cd6"}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grip."}, {"label": "goal", "start_step": 937, "end_step": 1040, "id": "a6927fc2-c479-4c00-acd8-7aa22ba8d4d8"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod, completing the nested assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden stand, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto a peg of the wooden block assembly, fingers opening to release the block."}, {"label": "goal", "start_step": 1041, "end_step": 1140, "id": "ecd7e548-b380-43b8-8d27-bb1bfddcd5b5"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface, making no contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1248, "id": "836f81c8-4beb-48ee-a8cd-6d532d0cce77"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut upward and leftward to position it directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical piece mounted on the wooden block base."}, {"label": "goal", "start_step": 1249, "end_step": 1342, "id": "1792b9c7-c58a-4904-adac-662002e1703e"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1343, "end_step": 1494, "id": "72039d17-5319-402c-8fce-71f4a3e4aa93"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal block leftward and upward to position it directly above the top-right vertical post on the wooden block rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand makes fine positional adjustments to the white hexagonal block to align its central hole with the top-right vertical post on the rack, lowering the block to nest onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block along the purple rod to rest on the white base of the rod, opens fingers to release the block and separate from it."}, {"label": "goal", "start_step": 1495, "end_step": 1600, "id": "f0e58dcd-46d7-483a-91ee-8ab4cf7e3f8f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block placed on the dark table surface without establishing a grasp."}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and leftward to the position above the purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1601, "end_step": 1742, "id": "ab78a679-5119-4fcd-aef6-1a3baceca56d"}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block stand, making small positional adjustments to position the nut over the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves diagonally downward toward the green cubic block on the dark table surface, staying empty and not yet contacting the block."}, {"label": "goal", "start_step": 1743, "end_step": 1828, "id": "0034f477-0da2-4d2a-b489-7761b1c64af1"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cubic block, making contact with the block surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the green cubic block resting on the table and lifts it upward until the block fully leaves the table surface."}, {"label": "goal", "start_step": 1829, "end_step": 1964, "id": "49642d65-612a-419e-bc44-895c1a12b7d5"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block and moves it toward the wooden rack, stopping above the purple-capped bottle on the rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple cylindrical cap on the bottle, and moves the block downward to fit it onto the cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green cubic block fitted on the purple-capped bottle without visible movement of the hand or the block."}, {"label": "home", "start_step": 2009, "end_step": 2032, "id": "tdEWXY_qIsJ98_6grt27R"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut placed in front of the wooden peg block, approaching the target with an open hand."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closes fingers and adjusts wrist and finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the green hexagonal block and moves it upward toward the purple posts on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with a purple post on the wooden base and lowers it to fit the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns and presses the white cylindrical cap onto the purple peg of the wooden pegboard to seat it fully in place."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the white hexagonal block on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to form a stable hold, with the block remaining on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the unoccupied purple assembly post fixed on the wooden block base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple post, slides the nut downward along the post to place it steadily onto the green hexagonal block at the post base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple rod of the wooden base, opens fingers to release the block so it rests stably on the lower green block."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the black table surface, fingers held slightly spread during the movement."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the object."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal part off the table surface, moves it upward and toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg on the wooden rack, lowers the part to fit it onto the peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the mated white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal part on the purple peg."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward with empty fingers toward the loose white hexagonal block positioned in front of the wooden block stand."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block in front of the wooden block stand to establish a grip, with slight finger adjustments visible."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple rod, and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut mounted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the table, with fingers open and extended, approaching the target without making contact."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod, completing the nested assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden stand, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto a peg of the wooden block assembly, fingers opening to release the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface, making no contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut upward and leftward to position it directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical piece mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal block leftward and upward to position it directly above the top-right vertical post on the wooden block rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand makes fine positional adjustments to the white hexagonal block to align its central hole with the top-right vertical post on the rack, lowering the block to nest onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block along the purple rod to rest on the white base of the rod, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block placed on the dark table surface without establishing a grasp."}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and leftward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block stand, making small positional adjustments to position the nut over the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves diagonally downward toward the green cubic block on the dark table surface, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cubic block, making contact with the block surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the green cubic block resting on the table and lifts it upward until the block fully leaves the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block and moves it toward the wooden rack, stopping above the purple-capped bottle on the rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple cylindrical cap on the bottle, and moves the block downward to fit it onto the cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green cubic block fitted on the purple-capped bottle without visible movement of the hand or the block."}], "episode_index": 22}
+{"source_uid": "4116a42608103c23", "num_frames": 2422, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand stays at the left side of the table, slightly adjusts its finger posture while remaining empty and has no obvious overall displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "a778e62d-69cd-4305-b17c-5141de48462b"}, {"label": "valid", "start_step": 0, "end_step": 2393, "id": "uFQJYo5lqVe4NLStLcr-b"}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward and closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 147, "end_step": 244, "id": "f277170d-c568-42fb-a74c-1cc1a1e75c19"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table surface to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the top white hexagonal block on the leftmost purple peg upward."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the left front purple vertical post."}, {"label": "goal", "start_step": 245, "end_step": 344, "id": "35c79864-0d16-4320-9d9a-3243fb00124c"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block downward toward the front area of the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block on the black tabletop and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the frontmost white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the frontmost white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the leftmost top peg of the pegboard."}, {"label": "goal", "start_step": 345, "end_step": 446, "id": "6d5aeb31-6f67-4ffc-8b86-aca630fa566b"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal ring downward to mate it onto the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the leftmost top peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 447, "end_step": 540, "id": "bfca7a9e-9209-4637-adcc-cac42870de54"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "goal", "start_step": 541, "end_step": 724, "id": "e570bf6c-be82-42e3-9b00-ad883ae63195"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 592, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white perforated hexagonal block onto the leftmost vertical pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 725, "end_step": 824, "id": "7a785dce-eb92-40b7-a0fa-7b4b3668828f"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block towards the top of the rightmost purple vertical rod."}, {"label": "goal", "start_step": 825, "end_step": 918, "id": "557e2741-523c-45d0-ba12-4d562b5bec8b"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the rightmost purple vertical rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the rightmost purple vertical rod without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the middle purple peg and places it on the wooden base."}, {"label": "goal", "start_step": 919, "end_step": 1032, "id": "f9646120-bebc-40e6-92ff-87357edde44d"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1033, "end_step": 1128, "id": "a658f973-d547-4afc-8feb-4e5b85972032"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it toward the wooden rack on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal ring with the rightmost purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the green cube on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1129, "end_step": 1228, "id": "8bc3dca4-b673-464a-aeb4-64a34c6e687e"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1229, "end_step": 1332, "id": "f4960ad1-8728-4800-b733-be5d116b6abe"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the black table and moves it right-up to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple rod on the wooden tray, lowering the part to slide it down the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden tray without moving."}, {"label": "goal", "start_step": 1333, "end_step": 1420, "id": "03b2b4bb-a9f3-4d3b-9fd6-0d78fdbce72f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting around it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece up from the table surface."}, {"label": "goal", "start_step": 1421, "end_step": 1554, "id": "e8a992ad-5fb8-4f5d-8f71-0559b5cc8488"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal piece and transports it leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical part with purple rod onto the rightmost slot of the wooden board."}, {"label": "goal", "start_step": 1555, "end_step": 1666, "id": "9ee17707-f130-452c-9a94-7bab66c215fb"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod of the white part on the wooden board, fingers opening and moving away slightly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring and moves it from the right lower area of the table to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1667, "end_step": 1748, "id": "4727bacd-187b-467c-809e-2c44032b4ee1"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits the ring down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple rod on the front-right of the wooden board, fingers gradually open and separate from the cylinder."}, {"label": "goal", "start_step": 1749, "end_step": 1842, "id": "91d667b5-a07b-4f44-95d4-3983ee002762"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the green cubic block on the right side of the table, approaching the target block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the table, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1843, "end_step": 2346, "id": "b0088017-d2b4-43dc-a8c8-3da4531935fd"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green cube with the purple rod on the white bottle and releases it, causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube rolling to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the area below the right side of the bottle set."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green cube on the table and releases it."}, {"label": "subtasks", "start_step": 2122, "end_step": 2227, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table below the bottle set."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the bottle with the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple rod on the white bottle and fits it onto the rod."}, {"label": "home", "start_step": 2394, "end_step": 2421, "id": "1aCONuO5SbSNWTCFyhsVT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand stays at the left side of the table, slightly adjusts its finger posture while remaining empty and has no obvious overall displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward and closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table surface to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the top white hexagonal block on the leftmost purple peg upward."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the left front purple vertical post."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block downward toward the front area of the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block on the black tabletop and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the frontmost white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the frontmost white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal ring downward to mate it onto the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the leftmost top peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 592, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white perforated hexagonal block onto the leftmost vertical pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block towards the top of the rightmost purple vertical rod."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the rightmost purple vertical rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the rightmost purple vertical rod without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the middle purple peg and places it on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it toward the wooden rack on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal ring with the rightmost purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the green cube on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the black table and moves it right-up to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple rod on the wooden tray, lowering the part to slide it down the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden tray without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting around it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece up from the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal piece and transports it leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical part with purple rod onto the rightmost slot of the wooden board."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod of the white part on the wooden board, fingers opening and moving away slightly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring and moves it from the right lower area of the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits the ring down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple rod on the front-right of the wooden board, fingers gradually open and separate from the cylinder."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the green cubic block on the right side of the table, approaching the target block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green cube with the purple rod on the white bottle and releases it, causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube rolling to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the area below the right side of the bottle set."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green cube on the table and releases it."}, {"label": "subtasks", "start_step": 2122, "end_step": 2227, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table below the bottle set."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the bottle with the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple rod on the white bottle and fits it onto the rod."}], "episode_index": 23}
+{"source_uid": "315937cba272f8d6", "num_frames": 2722, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: idle: Right hand stays empty at the right side of the operating area with slight posture adjustment before moving towards the target."}, {"label": "goal", "start_step": 0, "end_step": 250, "id": "63d4adc2-6b0b-4592-a33d-e9f329a975a5"}, {"label": "valid", "start_step": 0, "end_step": 2690, "id": "A_XsVQ5Hk6iXHTDgr0F5-"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves forward and left towards the green cubic block placed in front of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers and makes small adjustments to form a stable grip on the green cubic block."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_place: Right hand lifts the green cubic block from the table and places it into the left lower hole of the wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it towards the top left purple peg of the wooden rack."}, {"label": "goal", "start_step": 251, "end_step": 358, "id": "d38a6829-c405-4c20-84ea-24089e250a03"}, {"label": "subtasks", "start_step": 270, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block with the top left purple peg on the wooden rack by inserting it downwards."}, {"label": "goal", "start_step": 359, "end_step": 462, "id": "7da445c6-a3f1-4602-a1d5-c5876e55c38e"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 463, "end_step": 598, "id": "34039d4a-afab-4cba-b484-143e9ce68916"}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple rod and presses it down to fit onto the rod."}, {"label": "goal", "start_step": 599, "end_step": 744, "id": "b269fc0d-79c9-4145-af0d-0995fa38d876"}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 745, "end_step": 862, "id": "1c3263a2-5253-47f2-81c9-432c126c6879"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 772, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack by aligning and lowering it down."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 863, "end_step": 946, "id": "f71de981-4366-4790-9a0b-df676a2e906e"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 947, "end_step": 1082, "id": "8e47db14-4e54-47c2-a09d-f5c62292716e"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1083, "end_step": 1182, "id": "ac126d3e-ff71-449e-a9c0-09a39bde42f8"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it up from the table surface."}, {"label": "goal", "start_step": 1183, "end_step": 1288, "id": "e21e1eac-f0c3-4e47-8354-f3361f44a0c0"}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green cubic block towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green cubic block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1289, "end_step": 1382, "id": "c8595bf1-3cff-4471-b811-ddd83decab54"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "goal", "start_step": 1383, "end_step": 1668, "id": "5a1f1d3f-4a99-439b-b536-4bbcba78fcf9"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: press: Right hand presses the white hexagonal block downwards to fix it stably on the purple vertical rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 1669, "end_step": 1744, "id": "f2218377-d465-491a-ab40-00558dc4eeeb"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close around the block to establish grip."}, {"label": "goal", "start_step": 1745, "end_step": 1856, "id": "1bbf4de2-1eee-4456-80c4-56c67d4087d4"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1857, "end_step": 1944, "id": "b3238d0c-7402-47b2-a822-96169a3acb45"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "goal", "start_step": 1945, "end_step": 2054, "id": "6fc26430-76b4-491a-89db-6a5039c64da9"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2055, "end_step": 2148, "id": "0fb136fa-2019-4e13-ba4d-a8e97a90f3ca"}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the right table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "goal", "start_step": 2149, "end_step": 2646, "id": "84837b1b-d224-4e38-86b9-f4038b847c61"}, {"label": "subtasks", "start_step": 2190, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand tries to fit the green square block onto the rightmost white pillar, then the block falls onto the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2361, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the green square block that fell on the right table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2511, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand fits the green square block onto the rightmost white pillar until it is stably placed on the pillar."}, {"label": "home", "start_step": 2691, "end_step": 2721, "id": "fPNpYjAzQ2DbPxb8rxq-j"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: idle: Right hand stays empty at the right side of the operating area with slight posture adjustment before moving towards the target."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves forward and left towards the green cubic block placed in front of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers and makes small adjustments to form a stable grip on the green cubic block."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_place: Right hand lifts the green cubic block from the table and places it into the left lower hole of the wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it towards the top left purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 270, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block with the top left purple peg on the wooden rack by inserting it downwards."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple rod and presses it down to fit onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 772, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack by aligning and lowering it down."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it up from the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green cubic block towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green cubic block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: press: Right hand presses the white hexagonal block downwards to fix it stably on the purple vertical rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close around the block to establish grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the right table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand tries to fit the green square block onto the rightmost white pillar, then the block falls onto the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2361, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the green square block that fell on the right table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2511, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand fits the green square block onto the rightmost white pillar until it is stably placed on the pillar."}], "episode_index": 24}
+{"source_uid": "8b3c85f1b43e4a5b", "num_frames": 2096, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand stays at the left area of the table, remains empty, and gradually bends its fingers from an extended upward posture to a relaxed curled posture with no obvious wrist displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "127102af-c13a-49cf-af95-76825a536ada"}, {"label": "valid", "start_step": 0, "end_step": 2069, "id": "hjPPYQwuXX1Bgw-bMCT6i"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal block on the table, fingers close and make small adjustments to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the green block, moves upward to lift the block fully off the recess on the wooden base."}, {"label": "goal", "start_step": 153, "end_step": 284, "id": "74113d36-9170-4172-ab48-2a6138150f5d"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted green block, moves horizontally to position the block directly over the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central opening of the green block with the purple post, lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the green block fitted on the purple post without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and leftward from the wooden pegboard area toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 285, "end_step": 366, "id": "f1a77c77-644e-4790-bb16-287e9875adad"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts wrist position and finger posture to close gradually around the targeted white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 367, "end_step": 474, "id": "e5b197ca-c723-4cac-a18f-9d70eff0649b"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, making small positional adjustments while lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers a white hexagonal block onto a purple peg of the wooden base and releases the block when the block is stably supported on the peg."}, {"label": "goal", "start_step": 475, "end_step": 552, "id": "2d56928a-9252-47c8-94a3-15a7796d31e0"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward toward a white hexagonal block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without observable movement."}, {"label": "goal", "start_step": 553, "end_step": 702, "id": "0ed3ef2f-3265-4e49-89a7-1addf0edbb64"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it to the position directly above the target purple rod."}, {"label": "subtasks", "start_step": 592, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate_release: Right hand holds the white hexagonal nut, aligns it with the purple vertical rod on the wooden base to fit the nut onto the rod, opens fingers to release the mated nut."}, {"label": "goal", "start_step": 703, "end_step": 808, "id": "e23e9074-89d0-4cef-970d-de9fcab73226"}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand, empty, moves downward from the wooden base area toward the white hexagonal nut resting on the black table next to the base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "goal", "start_step": 809, "end_step": 948, "id": "bee1870a-050c-451c-965a-e161ab03e48d"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut on the purple post."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple post on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 949, "end_step": 1050, "id": "35726d03-4d14-414f-aa45-d2adb9dfa65b"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1051, "end_step": 1224, "id": "f2d76cc4-fc0c-4700-b13e-6604f68f34c1"}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green hexagonal block slightly, aligns its central hole with the purple rod, and presses it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: press: Right hand applies downward pressure on the green hexagonal block on the wooden peg to seat it fully on the underlying white block."}, {"label": "goal", "start_step": 1225, "end_step": 1352, "id": "682d0668-f045-4b28-840b-7ab8e358eafc"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward and rightward from the wooden base toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a hold on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving, maintaining a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface and moves it slightly toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it from the lower right area above the table to the position directly above the target vertical post on the wooden block assembly."}, {"label": "goal", "start_step": 1353, "end_step": 1462, "id": "34e01d6a-cfe3-427a-b415-801d4d845533"}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target vertical post on the wooden block assembly, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple vertical rod mounted on the wooden base, fingers opening to release the block as the block rests stably on the rod."}, {"label": "goal", "start_step": 1463, "end_step": 1542, "id": "a85ad58f-41e3-4df4-b822-68bc6ae4e2dc"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface next to the wooden assembly base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "goal", "start_step": 1543, "end_step": 1644, "id": "c75b9d50-dd90-44f1-aff1-41133347ea5d"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and toward the purple rod fixed on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden base without movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple rod and fit it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block with green ring onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1645, "end_step": 1726, "id": "999d1d09-b991-45b4-90ea-40be531a7d6c"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it leftward and upward from the right side of the table to a position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1727, "end_step": 1808, "id": "dbd334dd-29cf-4500-a68f-19956f0fa42a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white cylindrical object, moves it downward to seat it over the purple protruding peg on the wooden block base, opening fingers to release the object once it is stably supported by the base."}, {"label": "goal", "start_step": 1809, "end_step": 1890, "id": "2f79d99a-6f99-479f-b132-0ae180694e41"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and to the right across the table surface, approaching the green cubic block located in the lower right area of the table without making contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp_lift: Right hand closes fingers around the green cubic block to establish a stable grip, lifting the block upward slightly off the dark table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the green square block and moves it upward toward the top of the white cylindrical post on the wooden rack."}, {"label": "goal", "start_step": 1891, "end_step": 2028, "id": "e7667427-8fb3-463b-ac88-68d4f9aae2b7"}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the top of the white cylindrical post, lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens its fingers to release the green square block fitted onto the white cylindrical post."}, {"label": "home", "start_step": 2070, "end_step": 2095, "id": "K7V_G0O0HAIRNfl9HQgJ-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand stays at the left area of the table, remains empty, and gradually bends its fingers from an extended upward posture to a relaxed curled posture with no obvious wrist displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal block on the table, fingers close and make small adjustments to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the green block, moves upward to lift the block fully off the recess on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted green block, moves horizontally to position the block directly over the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central opening of the green block with the purple post, lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the green block fitted on the purple post without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and leftward from the wooden pegboard area toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts wrist position and finger posture to close gradually around the targeted white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, making small positional adjustments while lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers a white hexagonal block onto a purple peg of the wooden base and releases the block when the block is stably supported on the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward toward a white hexagonal block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without observable movement."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it to the position directly above the target purple rod."}, {"label": "subtasks", "start_step": 592, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate_release: Right hand holds the white hexagonal nut, aligns it with the purple vertical rod on the wooden base to fit the nut onto the rod, opens fingers to release the mated nut."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand, empty, moves downward from the wooden base area toward the white hexagonal nut resting on the black table next to the base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut on the purple post."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple post on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green hexagonal block slightly, aligns its central hole with the purple rod, and presses it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: press: Right hand applies downward pressure on the green hexagonal block on the wooden peg to seat it fully on the underlying white block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward and rightward from the wooden base toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a hold on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving, maintaining a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface and moves it slightly toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it from the lower right area above the table to the position directly above the target vertical post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target vertical post on the wooden block assembly, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple vertical rod mounted on the wooden base, fingers opening to release the block as the block rests stably on the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface next to the wooden assembly base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and toward the purple rod fixed on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden base without movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple rod and fit it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block with green ring onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it leftward and upward from the right side of the table to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white cylindrical object, moves it downward to seat it over the purple protruding peg on the wooden block base, opening fingers to release the object once it is stably supported by the base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and to the right across the table surface, approaching the green cubic block located in the lower right area of the table without making contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp_lift: Right hand closes fingers around the green cubic block to establish a stable grip, lifting the block upward slightly off the dark table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the green square block and moves it upward toward the top of the white cylindrical post on the wooden rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the top of the white cylindrical post, lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens its fingers to release the green square block fitted onto the white cylindrical post."}], "episode_index": 25}
+{"source_uid": "5cf942a696b2abb9", "num_frames": 2303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table to approach the front-left purple rod on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 164, "id": "8c4d1916-d54e-4f52-a037-91b7f52f108e"}, {"label": "valid", "start_step": 0, "end_step": 2277, "id": "Etioom5YkEtTjT1l4qTj_"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left purple rod on the wooden base and adjusts for a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand pulls the purple rod upward to lift it out of the hole in the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the purple rod downward to align with the central hole of the front-left green hexagonal ring on the table and inserts the rod into the ring."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the top of the leftmost purple peg."}, {"label": "goal", "start_step": 165, "end_step": 276, "id": "5be8013f-3b1b-4bf5-8e43-477cd483acee"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the wooden rack peg and releases the grip."}, {"label": "goal", "start_step": 277, "end_step": 370, "id": "edda5358-ff59-4d47-a9b2-62bac9a6baf3"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "goal", "start_step": 371, "end_step": 540, "id": "4adf8dca-1fa7-42a5-9f46-69574ab8507b"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg of the pegboard, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 541, "end_step": 634, "id": "593e5c9a-847e-48f1-be11-e112c137abc4"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward empty-handed toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "goal", "start_step": 635, "end_step": 776, "id": "4202d0ff-b20d-452a-ba70-cb685bc6af96"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand moves the white hexagonal part upward and leftward from the black table toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal part onto the leftmost purple rod and presses it down along the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the top of the leftmost purple peg."}, {"label": "goal", "start_step": 777, "end_step": 914, "id": "4ea6af8f-c9d7-4b97-a40f-0c782ecb079f"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing around the ring to adjust the grip."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the purple peg on the wooden rack."}, {"label": "goal", "start_step": 915, "end_step": 1114, "id": "9a97b632-d6f0-4ef3-9e4e-005fe140925d"}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it down to fit the peg through the block's central hole."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the middle purple peg of the wooden peg base."}, {"label": "goal", "start_step": 1115, "end_step": 1214, "id": "72fdfe40-a29a-4aa7-ad4c-94803abd5265"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the peg and moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1215, "end_step": 1342, "id": "7788c987-4515-4a95-8fc0-20a7cfc2e94f"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block toward the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1343, "end_step": 1452, "id": "624ab793-8c48-40ef-bed7-a2a5e6d1ea9c"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal hollow piece and moves it upward and leftward toward the wooden peg base."}, {"label": "goal", "start_step": 1453, "end_step": 1570, "id": "20b63f75-29ef-4a67-8e15-4e677eadd0b1"}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the peg on the wooden base and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow piece on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the green post of the wooden base and releases the block with fingers opening."}, {"label": "goal", "start_step": 1571, "end_step": 1676, "id": "1222b538-d1a3-46b0-b3fa-262f0ca4e486"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 1677, "end_step": 1788, "id": "c41035ff-a293-47e2-9e31-d800db6ed9a5"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1789, "end_step": 1872, "id": "f551a952-3085-4efe-8689-0690b8fc23cc"}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cubic block from the right side of the black table surface."}, {"label": "goal", "start_step": 1873, "end_step": 1988, "id": "e2d2a8f0-204c-4126-bde4-86d53a7a3186"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cubic block upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod on the front-right white bottle on the wooden board downward and releases the rod."}, {"label": "goal", "start_step": 1989, "end_step": 2082, "id": "7d462519-4ece-4e7d-b9d4-c9f9a128569e"}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table below the wooden board."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 2083, "end_step": 2230, "id": "9c2139e2-7c8f-4400-807b-926c607415e9"}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square ring off the table surface and transports it upward and rightward to the area above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green square ring with the purple rod on the rightmost bottle and fits the ring down onto the bottle."}, {"label": "home", "start_step": 2278, "end_step": 2302, "id": "rj1xU9dML1W3vYUc0FPvs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table to approach the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left purple rod on the wooden base and adjusts for a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand pulls the purple rod upward to lift it out of the hole in the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the purple rod downward to align with the central hole of the front-left green hexagonal ring on the table and inserts the rod into the ring."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the wooden rack peg and releases the grip."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg of the pegboard, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward empty-handed toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand moves the white hexagonal part upward and leftward from the black table toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal part onto the leftmost purple rod and presses it down along the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing around the ring to adjust the grip."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it down to fit the peg through the block's central hole."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the middle purple peg of the wooden peg base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the peg and moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block toward the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal hollow piece and moves it upward and leftward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the peg on the wooden base and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow piece on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the green post of the wooden base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cubic block from the right side of the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cubic block upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod on the front-right white bottle on the wooden board downward and releases the rod."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table below the wooden board."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square ring off the table surface and transports it upward and rightward to the area above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green square ring with the purple rod on the rightmost bottle and fits the ring down onto the bottle."}], "episode_index": 26}
+{"source_uid": "48922c7ae450ca08", "num_frames": 2921, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the front-left purple rod on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "6ee6957e-4444-4dfe-ba10-0b73bd8865cb"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "GLnHD6CdMx5fqWjBKA0sD"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-left purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 147, "end_step": 288, "id": "eab3e279-44aa-41cb-9b91-a10ddf96a31d"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple rod and inserts the block onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the purple peg on the wooden base and transports it toward the black table surface."}, {"label": "goal", "start_step": 289, "end_step": 378, "id": "5e11b114-3972-4a2f-8bf0-4b9074fafaee"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block on the black table surface and releases the grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves to the white cylindrical block on the black table surface and adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal nut towards the purple peg on the assembly rack."}, {"label": "goal", "start_step": 379, "end_step": 518, "id": "b4e54ca4-7600-46b5-925c-9fdd6f9722a0"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 519, "end_step": 610, "id": "416f99ae-e2ee-449e-9428-8636ea6dffd8"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 611, "end_step": 714, "id": "1aa8aafd-ef47-44c0-b7bd-10f3456983dd"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 715, "end_step": 812, "id": "c5705d9f-ba0d-4d5f-831c-c250f58a1247"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to establish stable grip."}, {"label": "goal", "start_step": 813, "end_step": 908, "id": "997e6ac2-fe0f-4fa9-a1ef-ffd5e354642c"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it downwards."}, {"label": "goal", "start_step": 909, "end_step": 1002, "id": "48d8f001-ef74-437d-9c4c-31b19478b25b"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1003, "end_step": 1104, "id": "b0cd1dbb-7a4e-4b31-8674-b9a13e897bee"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the wooden tray with pegs."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the white peg on the wooden tray and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the white peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1105, "end_step": 1198, "id": "ec1d9dec-1a42-4679-8b98-cffd76452a58"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow cylinder on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 1199, "end_step": 1304, "id": "bc2ef9e9-02a8-4df6-83e8-dce2c448b210"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the target peg, adjusting its position to fit the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1305, "end_step": 1400, "id": "4edd9676-59f4-4ed1-abc8-dccacf66329a"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1401, "end_step": 1492, "id": "ccc32ee1-5c1c-4251-94ff-310b06311ae9"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple vertical rod on the wooden base and releases its grasp on the block."}, {"label": "goal", "start_step": 1493, "end_step": 1584, "id": "2c260e9b-2b07-4a0f-bfdf-5e92952bcc2b"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hollow block located on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the table surface."}, {"label": "goal", "start_step": 1585, "end_step": 1690, "id": "831629e2-8f7f-4ca8-8491-08da146e379c"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separate from it."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod into the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1691, "end_step": 1782, "id": "6d81e1e4-dd16-4bc5-a2b9-53083a2c1575"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1783, "end_step": 2862, "id": "06d591b4-8785-4e04-8152-175be609e32d"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden board area towards the fallen green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table and adjusts its grip posture."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2347, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table again."}, {"label": "subtasks", "start_step": 2348, "end_step": 2421, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block back to the right side of the table and places it."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building block with a purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2580, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the white building block."}, {"label": "subtasks", "start_step": 2745, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fit onto the white building block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white building block without moving."}, {"label": "home", "start_step": 2896, "end_step": 2920, "id": "ct-axiNvGqrt6TKRSmaFa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-left purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple rod and inserts the block onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the purple peg on the wooden base and transports it toward the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block on the black table surface and releases the grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves to the white cylindrical block on the black table surface and adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal nut towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to establish stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it downwards."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the wooden tray with pegs."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the white peg on the wooden tray and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the white peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow cylinder on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the target peg, adjusting its position to fit the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple vertical rod on the wooden base and releases its grasp on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hollow block located on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separate from it."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod into the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden board area towards the fallen green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table and adjusts its grip posture."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2347, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table again."}, {"label": "subtasks", "start_step": 2348, "end_step": 2421, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block back to the right side of the table and places it."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building block with a purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2580, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the white building block."}, {"label": "subtasks", "start_step": 2745, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fit onto the white building block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white building block without moving."}], "episode_index": 27}
+{"source_uid": "aa506efbe5593c49", "num_frames": 2169, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position toward the green hexagonal block next to the wooden peg stand, fingers held slightly open during the approach."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "7879bcfd-b85e-403a-a451-f61902636862"}, {"label": "valid", "start_step": 0, "end_step": 2144, "id": "V78nQ5U2-e88IX21o1ewQ"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block next to the wooden peg stand, adjusting finger positions to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand grips the green block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 137, "end_step": 330, "id": "0f462316-78c5-4b0f-b80c-2e23c80eee30"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the lifted green block and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moves the block downward to fit it onto the peg until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and nests the block onto the purple peg of the wooden rack, with fingers opening to release the block settled on the peg."}, {"label": "goal", "start_step": 331, "end_step": 418, "id": "d38c559c-13b0-4445-b34f-b6340f2a5c8c"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block placed on the black table surface near the green block."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grip on the block."}, {"label": "goal", "start_step": 419, "end_step": 600, "id": "4b2c78d1-4b34-4d4d-ad21-a51b0f071986"}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it through the air to position it above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes slight orientation adjustments, and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block on the front table, approaching the target without making contact."}, {"label": "goal", "start_step": 601, "end_step": 702, "id": "b3600ac6-7ad4-4096-8b07-d86c019527d8"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily without observable movement of the hand or the block, which remains supported by the table."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes and adjusts fingers to establish a stable grasp on the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 703, "end_step": 826, "id": "5ce25920-dca8-496c-8d9e-cef260a5a94a"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position directly above the leftmost purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple rod and lowers the nut to fit onto the rod and connect with the green nut below it."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without visible movement of the hand, fingers or the grasped nut."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from above the wooden block rack toward the white hexagonal nut placed in front of the rack on the table, staying empty and approaching the target without contact."}, {"label": "goal", "start_step": 827, "end_step": 910, "id": "2b533d42-e7e7-4030-8b34-508286625a91"}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, fingers close and make slight adjustments to establish a grasp on the nut."}, {"label": "goal", "start_step": 911, "end_step": 1014, "id": "036fb048-6a77-4f92-b8c2-ce423a2321b0"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white block off the table surface and moves it upward to position above the empty purple peg on the wooden board."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the white block assembled on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the block as it settles on the peg."}, {"label": "goal", "start_step": 1015, "end_step": 1100, "id": "a2f2be8a-2a24-43d1-b43e-413d378c0551"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1101, "end_step": 1218, "id": "cc5e0bed-e40e-40e9-90af-b26dcc5eedcd"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple rod, fitting the block onto the rod to establish an assembled state."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple vertical rod of the wooden base, fingers opening to release the resting block."}, {"label": "goal", "start_step": 1219, "end_step": 1304, "id": "fa2914f4-d7e5-47f2-8855-0038a9a15c07"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, fingers held open in preparation for grasping."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds a white hexagonal nut above the black table surface with a stable grip, without any visible movement."}, {"label": "goal", "start_step": 1305, "end_step": 1428, "id": "22d8ee8c-10d5-4933-b590-930aea07f235"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the held white hexagonal nut completely off the black table surface and transports it upward and horizontally to a position directly above the purple vertical post on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical post, makes small rotational and positional adjustments to the nut, and lowers the nut to fit securely over the post onto the assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from above the wooden block stand, approaching the white hexagonal block next to the stand on the table while remaining empty."}, {"label": "goal", "start_step": 1429, "end_step": 1524, "id": "d7a35b5d-4bbc-4c60-ba34-9cce7c399b0f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the nearby white hexagonal block on the table, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface while holding it firmly."}, {"label": "goal", "start_step": 1525, "end_step": 1646, "id": "0da23948-cd7e-47a4-a771-c1b170be720a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand transports the held white hexagonal block toward the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple post and adjusts its position to fit onto the post."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to set it onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 1647, "end_step": 1738, "id": "b47feb9a-fe9c-400d-9087-1c92e716fcd1"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it completely leaves the black table surface."}, {"label": "goal", "start_step": 1739, "end_step": 1822, "id": "b5ca78e1-7bdd-4d1b-bb6e-d7eac79fa834"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the white hexagonal block leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple rod onto the supporting block below, and opens fingers to release the grasped block."}, {"label": "goal", "start_step": 1823, "end_step": 1908, "id": "c34717cc-d377-4985-8a19-bd84d2b3aea8"}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the small green cubic object resting on the table surface, fingers maintained in an open, extended shape."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes its fingers around the small green cubic object to form a stable grasp, the object remaining in contact with the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the green block from the dark table surface, with the block fully separated from the table by the end of the motion."}, {"label": "goal", "start_step": 1909, "end_step": 2096, "id": "07ef0515-80ea-4d3d-a883-875b826c2270"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the green block upward and toward the wooden rack, moving the block to the position directly above the target white post with a purple top."}, {"label": "subtasks", "start_step": 1942, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand adjusts the position of the green block to align its hole with the target post and fits the block onto the post to complete the assembly."}, {"label": "home", "start_step": 2145, "end_step": 2168, "id": "EHITXMmxn3Fj2sPKP5v-L"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position toward the green hexagonal block next to the wooden peg stand, fingers held slightly open during the approach."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block next to the wooden peg stand, adjusting finger positions to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand grips the green block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the lifted green block and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moves the block downward to fit it onto the peg until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and nests the block onto the purple peg of the wooden rack, with fingers opening to release the block settled on the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block placed on the black table surface near the green block."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it through the air to position it above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes slight orientation adjustments, and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block on the front table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily without observable movement of the hand or the block, which remains supported by the table."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes and adjusts fingers to establish a stable grasp on the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position directly above the leftmost purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple rod and lowers the nut to fit onto the rod and connect with the green nut below it."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without visible movement of the hand, fingers or the grasped nut."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from above the wooden block rack toward the white hexagonal nut placed in front of the rack on the table, staying empty and approaching the target without contact."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, fingers close and make slight adjustments to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white block off the table surface and moves it upward to position above the empty purple peg on the wooden board."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the white block assembled on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the block as it settles on the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple rod, fitting the block onto the rod to establish an assembled state."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple vertical rod of the wooden base, fingers opening to release the resting block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, fingers held open in preparation for grasping."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds a white hexagonal nut above the black table surface with a stable grip, without any visible movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the held white hexagonal nut completely off the black table surface and transports it upward and horizontally to a position directly above the purple vertical post on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical post, makes small rotational and positional adjustments to the nut, and lowers the nut to fit securely over the post onto the assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from above the wooden block stand, approaching the white hexagonal block next to the stand on the table while remaining empty."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the nearby white hexagonal block on the table, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface while holding it firmly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand transports the held white hexagonal block toward the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple post and adjusts its position to fit onto the post."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to set it onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the white hexagonal block leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple rod onto the supporting block below, and opens fingers to release the grasped block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the small green cubic object resting on the table surface, fingers maintained in an open, extended shape."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes its fingers around the small green cubic object to form a stable grasp, the object remaining in contact with the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the green block from the dark table surface, with the block fully separated from the table by the end of the motion."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the green block upward and toward the wooden rack, moving the block to the position directly above the target white post with a purple top."}, {"label": "subtasks", "start_step": 1942, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand adjusts the position of the green block to align its hole with the target post and fits the block onto the post to complete the assembly."}], "episode_index": 28}
+{"source_uid": "9725686b2abf633b", "num_frames": 2174, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the component assembly on the wooden base, staying empty during the movement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "bd8397fa-b67a-4e08-9bcf-05b54bcdc8cc"}, {"label": "valid", "start_step": 0, "end_step": 2145, "id": "1jRIBokH_dNyY6wctv2W-"}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand approaches the green block near the wooden base, closes fingers to contact the block and makes fine adjustments to establish a grip."}, {"label": "goal", "start_step": 133, "end_step": 264, "id": "a6f4976c-729e-4cc5-82ba-a0d401ce0554"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the purple peg, lowering it to fit onto the peg in an assembly motion."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden pegboard until the block rests stably on the board surface, opening fingers to release the block."}, {"label": "goal", "start_step": 265, "end_step": 452, "id": "0e779cf8-a704-44ea-ad8f-2526a0773313"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the front white hexagonal block on the table, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 322, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block on the table, closing fingers to form a stable grasp on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the grasped white hexagonal nut and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 453, "end_step": 560, "id": "b07ed4fe-83ef-4467-811f-edc83e3cab3d"}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg and places it onto the green supporting block below."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the white hexagonal block on the purple peg of the assembly rack downward to secure it in place."}, {"label": "goal", "start_step": 561, "end_step": 636, "id": "8b38b304-d93b-492e-af2b-d473f8166b16"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a grip."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 637, "end_step": 790, "id": "faa1f6fc-7bcf-4597-8cbe-a495d9a4f0f8"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully raised off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady directly above the purple peg without movement."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward to slide it onto the purple peg, making small positional adjustments."}, {"label": "goal", "start_step": 791, "end_step": 876, "id": "db2fe225-bfae-48a9-bf12-2728e1def913"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers closing to establish grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily while the block remains supported by the table surface, no movement observed."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 877, "end_step": 964, "id": "6ef4ab3c-6fa9-4b4e-8e69-d8cd84e732dc"}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align with the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg, allowing the block to slide down to the base of the peg board."}, {"label": "goal", "start_step": 965, "end_step": 1050, "id": "02012128-2779-41f1-8e7d-a96f4cd59a20"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the peg board area toward the green square block on the table in front of the peg board, with an empty hand before contacting the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the stably grasped green square block and lifts it upward, moving the block away from the table support surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers to form a stable grip on the green hexagonal block resting on the table near the wooden block base."}, {"label": "goal", "start_step": 1051, "end_step": 1146, "id": "02b012c9-f601-4ec2-b61a-7200ebe2e311"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod, moving it downward to place it onto the existing stacked blocks on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the corresponding wooden peg on the wooden assembly base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1147, "end_step": 1222, "id": "943c9830-6f21-49ef-854c-c7f3bbf3109d"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip."}, {"label": "goal", "start_step": 1223, "end_step": 1320, "id": "ea6f78b7-d01c-4350-bf0c-df1bc5b7f27c"}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the rack and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the misaligned white hexagonal block on the purple rod downward to seat it properly on the supporting green block."}, {"label": "goal", "start_step": 1321, "end_step": 1422, "id": "e76c59bb-6571-4a12-9cb4-797d98333bcc"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the stacked block assembly toward the loose white hexagonal nut on the table next to the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small adjustments to finger positions to establish contact with the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1423, "end_step": 1544, "id": "0b00e179-214e-420a-bb8e-aa922662d710"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the top of the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod to set it onto the white nut below, where the nut is stably supported."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty from the area next to the purple rod on the wooden rack downward toward the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 1545, "end_step": 1630, "id": "275884b9-cd97-482a-92e9-b35525d9f7a6"}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely separated from the black table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1776, "id": "8415b72a-5e5b-4747-ae16-c8d88ff5466c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the lifted white hexagonal nut and moves it horizontally to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal nut and makes slight positional and angular adjustments to align the nut's central hole with the purple rod below for nesting assembly."}, {"label": "goal", "start_step": 1777, "end_step": 1976, "id": "9fd228f3-bb82-48d4-9ef2-ffc3b668e550"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal piece, fully separating fingers from the piece by the end of the segment."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green cubic block on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped green block upward from the black table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2086, "id": "9c75bb54-1499-405b-9df6-039e975605e4"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden tray and inserts it into the slot until stably positioned."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the inserted green block, separating fingers from the block surface."}, {"label": "home", "start_step": 2146, "end_step": 2173, "id": "hk_So3UkeSzKVtfuX5x_6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the component assembly on the wooden base, staying empty during the movement."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand approaches the green block near the wooden base, closes fingers to contact the block and makes fine adjustments to establish a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the purple peg, lowering it to fit onto the peg in an assembly motion."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden pegboard until the block rests stably on the board surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the front white hexagonal block on the table, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 322, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block on the table, closing fingers to form a stable grasp on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the grasped white hexagonal nut and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg and places it onto the green supporting block below."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the white hexagonal block on the purple peg of the assembly rack downward to secure it in place."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a grip."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully raised off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady directly above the purple peg without movement."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward to slide it onto the purple peg, making small positional adjustments."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers closing to establish grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily while the block remains supported by the table surface, no movement observed."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align with the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg, allowing the block to slide down to the base of the peg board."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the peg board area toward the green square block on the table in front of the peg board, with an empty hand before contacting the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the stably grasped green square block and lifts it upward, moving the block away from the table support surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers to form a stable grip on the green hexagonal block resting on the table near the wooden block base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod, moving it downward to place it onto the existing stacked blocks on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the corresponding wooden peg on the wooden assembly base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the rack and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the misaligned white hexagonal block on the purple rod downward to seat it properly on the supporting green block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the stacked block assembly toward the loose white hexagonal nut on the table next to the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small adjustments to finger positions to establish contact with the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the top of the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod to set it onto the white nut below, where the nut is stably supported."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty from the area next to the purple rod on the wooden rack downward toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the lifted white hexagonal nut and moves it horizontally to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal nut and makes slight positional and angular adjustments to align the nut's central hole with the purple rod below for nesting assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal piece, fully separating fingers from the piece by the end of the segment."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green cubic block on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped green block upward from the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden tray and inserts it into the slot until stably positioned."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the inserted green block, separating fingers from the block surface."}], "episode_index": 29}
+{"source_uid": "14f44312b5330a51", "num_frames": 3087, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located in front of the wooden rack with purple pegs."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "07169139-e97f-4332-860e-4473bbf9cfd2"}, {"label": "valid", "start_step": 0, "end_step": 3057, "id": "VjISGpql2hLlbbPnFA2eD"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and grasps the green block in front of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block with purple rod off the black table surface."}, {"label": "goal", "start_step": 133, "end_step": 231, "id": "eafc8b36-0bae-4ec2-8557-37179ff0697a"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block with purple rod to the position above the leftmost hole of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the purple rod of the green block with the leftmost hole of the wooden base and inserts it into the hole."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the inserted green block with purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white ring upward to remove it from the purple peg."}, {"label": "goal", "start_step": 232, "end_step": 303, "id": "2bcb5141-41a2-4055-bcb9-c8017b2bf77a"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring downward toward the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring on the black table and releases the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white ring on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal sleeve from the green support on the black table."}, {"label": "goal", "start_step": 304, "end_step": 429, "id": "54d863dd-0120-4177-be60-c5016370d5d2"}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve to the position above the front-left purple post of the wooden fixture."}, {"label": "subtasks", "start_step": 330, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve onto the front-left purple post of the wooden fixture."}, {"label": "goal", "start_step": 430, "end_step": 708, "id": "7148f545-001d-4bb9-9516-2a14b6d8ca94"}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the purple peg on the green base of the wooden rack."}, {"label": "goal", "start_step": 709, "end_step": 876, "id": "a9984597-571b-4300-a02d-63b1eea87e0c"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg until it is fully seated on the green base."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 877, "end_step": 975, "id": "46cb6a45-203d-4625-82b2-1e90221f0458"}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 976, "end_step": 1251, "id": "f42220e1-af26-4261-afff-dbc937565cb4"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white block towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the middle purple rod on the wooden base and adjusts it to stay stable."}, {"label": "goal", "start_step": 1252, "end_step": 1353, "id": "5db59778-a6ae-4970-9081-55caf561c834"}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black tabletop."}, {"label": "goal", "start_step": 1354, "end_step": 1446, "id": "6dffb42d-a87e-4d75-9619-689885ba0aa5"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target purple rod, lowering it to fit onto the rod."}, {"label": "goal", "start_step": 1447, "end_step": 1533, "id": "c10aec4d-04e2-421c-b4a0-1c46bdb10c63"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1534, "end_step": 1632, "id": "f080a3e9-1d06-40d7-955b-b829a1dab3d6"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1633, "end_step": 1716, "id": "6560c4bd-8238-4699-b13b-3fe5d9b8dd41"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface near the wooden rack."}, {"label": "goal", "start_step": 1717, "end_step": 1848, "id": "26850c19-a8f2-44a6-b421-bc638037159d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block and fingers move away from the block."}, {"label": "goal", "start_step": 1849, "end_step": 1923, "id": "71f8c3f9-792c-44c8-a5a5-bf5c48883635"}, {"label": "subtasks", "start_step": 1860, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the building block on the wooden base toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black desktop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black desktop with fingers closing around the block."}, {"label": "goal", "start_step": 1924, "end_step": 2082, "id": "349bb1c1-236e-4d3d-b026-b00ae9b32749"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden rack on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden rack without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the right side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2083, "end_step": 2319, "id": "419b8920-fb6e-4394-9999-99e5696a6df7"}, {"label": "subtasks", "start_step": 2152, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base until the block is stably supported."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach_grasp: Right hand reaches toward the green cubic block on the table surface and then grasps it."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 2320, "end_step": 3006, "id": "efb2fea8-d158-4cf7-b355-296f78acb636"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2385, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle."}, {"label": "subtasks", "start_step": 2535, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle repeatedly to adjust its position."}, {"label": "subtasks", "start_step": 2895, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the previous white bottle and transports it above another white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the target white bottle to fit properly."}, {"label": "home", "start_step": 3058, "end_step": 3086, "id": "4sp5Fp4qR5aOvO4jrTIea"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located in front of the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and grasps the green block in front of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block with purple rod off the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block with purple rod to the position above the leftmost hole of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the purple rod of the green block with the leftmost hole of the wooden base and inserts it into the hole."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the inserted green block with purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white ring upward to remove it from the purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring downward toward the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring on the black table and releases the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white ring on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal sleeve from the green support on the black table."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve to the position above the front-left purple post of the wooden fixture."}, {"label": "subtasks", "start_step": 330, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve onto the front-left purple post of the wooden fixture."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the purple peg on the green base of the wooden rack."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg until it is fully seated on the green base."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white block towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the middle purple rod on the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface near the wooden rack."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block and fingers move away from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the building block on the wooden base toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black desktop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black desktop with fingers closing around the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden rack on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden rack without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the right side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base until the block is stably supported."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach_grasp: Right hand reaches toward the green cubic block on the table surface and then grasps it."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2385, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle."}, {"label": "subtasks", "start_step": 2535, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle repeatedly to adjust its position."}, {"label": "subtasks", "start_step": 2895, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the previous white bottle and transports it above another white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the target white bottle to fit properly."}], "episode_index": 30}
+{"source_uid": "8a84e1ed14eae905", "num_frames": 1910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial raised right position toward the front-left green hexagonal block near the wooden peg stand, staying empty."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "f7894796-7d4c-47ad-820e-fee4d26e0a85"}, {"label": "valid", "start_step": 0, "end_step": 1882, "id": "JqoDlxlFGHs2GRYhpi3M7"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table surface, adjusting finger contact to establish a grip while the block remains supported by the table."}, {"label": "goal", "start_step": 113, "end_step": 212, "id": "0505e069-525f-4c8c-b419-b6bf4165b64c"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the table surface and moves it upward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and slides the block downward to fit securely onto the post."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple post, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, placing it onto the wooden pegboard base."}, {"label": "goal", "start_step": 213, "end_step": 290, "id": "a278d8fe-a922-4e38-9924-641d412ce69c"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "goal", "start_step": 291, "end_step": 382, "id": "04ed096d-fb30-4c09-93d8-065cb78c184e"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg above the green block."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the left purple peg on the wooden base until it rests on the underlying green block, then releases the block."}, {"label": "goal", "start_step": 383, "end_step": 472, "id": "877b18bf-f454-4e1e-acad-e7dfcdee44a1"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal block on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the front-left white hexagonal block on the table, closing fingers and adjusting contact points to establish a stable grasp."}, {"label": "goal", "start_step": 473, "end_step": 564, "id": "e3dbbf8b-8b58-48f7-843c-cbe3472b62e1"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward to seat the block stably on the purple peg of the assembly base, opens fingers to release the supported block."}, {"label": "goal", "start_step": 565, "end_step": 722, "id": "bfdb8c7d-e330-4454-865b-f42f967c111d"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base to approach the target."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusts finger positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand grips the white hexagonal block and moves upward to raise the block from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple wooden peg on the wooden assembly base."}, {"label": "goal", "start_step": 723, "end_step": 840, "id": "5b29393d-3efb-48f6-93ac-76b928187218"}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple wooden peg below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple wooden peg to rest on the wooden assembly base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 841, "end_step": 910, "id": "648e7f8d-4390-4559-a12e-7e657732c9bd"}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 911, "end_step": 1026, "id": "08f8d5cf-e257-4c74-8298-807d52fd8631"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 952, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg for assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block on the purple peg until it rests stably on the green block below and releases contact with the block."}, {"label": "goal", "start_step": 1027, "end_step": 1096, "id": "3569b112-1271-48ec-98b4-3fd4d38d54aa"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "goal", "start_step": 1097, "end_step": 1222, "id": "e8013355-c549-4849-b756-881908e4bab0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it up and left toward the wooden assembly base until the nut is positioned directly above the purple rod on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, makes slight positional adjustments to align the nut's hole with the purple rod, and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base, fits the block onto the rod and releases it."}, {"label": "goal", "start_step": 1223, "end_step": 1298, "id": "c1db7d44-9caf-4431-85d6-ce0c265a520d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach_grasp: Right hand moves empty downward to the white hexagonal block on the table to the right of the wooden base, closes fingers around the block and adjusts grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden block."}, {"label": "goal", "start_step": 1299, "end_step": 1384, "id": "eef2547f-93f2-4e76-ba86-599e9bc1d232"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moves the nut downward to sleeve it onto the rod and slide along the rod toward the base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand presses the white cylindrical block onto the purple rod of the wooden stand to seat it, releasing its grip as the block becomes fully supported."}, {"label": "goal", "start_step": 1385, "end_step": 1454, "id": "a05896cc-cb5e-4002-8c7a-6f7f234b0092"}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1455, "end_step": 1556, "id": "79035fa9-7212-4e63-bfe5-270e590ee227"}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upward to the position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the top of the purple rod, adjusting its position to align the block's hole with the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: press: Right hand presses the top of the white cylindrical cap on the purple rod vertically downward until the cap is seated in place."}, {"label": "goal", "start_step": 1557, "end_step": 1632, "id": "8e024408-c11c-4bc9-a788-4ad5bae665b4"}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the cap position toward the green cubic block on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers closing around the block to establish a grasp."}, {"label": "goal", "start_step": 1633, "end_step": 1840, "id": "4fe47c9c-93eb-422f-b921-635b59cf8712"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden bottle tray, positioning the block directly above the exposed purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod below, moving the block slightly downward to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the aligned green hexagonal block further downward until the block rests stably on the top surface of the white bottle cap beneath it."}, {"label": "home", "start_step": 1883, "end_step": 1909, "id": "wG0hB3kmIYbLWipY4uyR9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial raised right position toward the front-left green hexagonal block near the wooden peg stand, staying empty."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table surface, adjusting finger contact to establish a grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the table surface and moves it upward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and slides the block downward to fit securely onto the post."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple post, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, placing it onto the wooden pegboard base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg above the green block."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the left purple peg on the wooden base until it rests on the underlying green block, then releases the block."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal block on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the front-left white hexagonal block on the table, closing fingers and adjusting contact points to establish a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward to seat the block stably on the purple peg of the assembly base, opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base to approach the target."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusts finger positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand grips the white hexagonal block and moves upward to raise the block from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple wooden peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple wooden peg below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple wooden peg to rest on the wooden assembly base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 952, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg for assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block on the purple peg until it rests stably on the green block below and releases contact with the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it up and left toward the wooden assembly base until the nut is positioned directly above the purple rod on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, makes slight positional adjustments to align the nut's hole with the purple rod, and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base, fits the block onto the rod and releases it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach_grasp: Right hand moves empty downward to the white hexagonal block on the table to the right of the wooden base, closes fingers around the block and adjusts grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moves the nut downward to sleeve it onto the rod and slide along the rod toward the base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand presses the white cylindrical block onto the purple rod of the wooden stand to seat it, releasing its grip as the block becomes fully supported."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upward to the position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the top of the purple rod, adjusting its position to align the block's hole with the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: press: Right hand presses the top of the white cylindrical cap on the purple rod vertically downward until the cap is seated in place."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the cap position toward the green cubic block on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden bottle tray, positioning the block directly above the exposed purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod below, moving the block slightly downward to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the aligned green hexagonal block further downward until the block rests stably on the top surface of the white bottle cap beneath it."}], "episode_index": 31}
+{"source_uid": "13b31bff4e522c9d", "num_frames": 2335, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block below the left of the pegboard."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "7a4d4254-6fe3-4486-b480-eac73a1e3f56"}, {"label": "valid", "start_step": 0, "end_step": 2312, "id": "xo18tgXAQd0jV-maQCdee"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position below the leftmost purple peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the leftmost purple peg by aligning the block hole with the peg and inserting the peg into it."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block up from the black work surface."}, {"label": "goal", "start_step": 221, "end_step": 346, "id": "d7d54f68-4a72-4fc5-902b-695cfee441bd"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost rear peg of the wooden peg rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost rear peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost rear peg of the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 347, "end_step": 530, "id": "60db1a34-d59a-457b-aa1c-f384ced2f68a"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 531, "end_step": 654, "id": "d1ec454a-ea3f-4a80-82b1-c4e2b55fd947"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, moving the nut downwards to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 655, "end_step": 780, "id": "7e0f7c1d-b781-4a07-bedc-b036aab6f005"}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach_grasp: Right hand reaches toward and grasps the white hexagonal block on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the wooden rack with purple vertical posts."}, {"label": "goal", "start_step": 781, "end_step": 892, "id": "9e3eac14-493c-4ca8-ab1f-7ffab8bbb5e2"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base by moving it downward, and releases the ring once it is fitted."}, {"label": "goal", "start_step": 893, "end_step": 982, "id": "8d3aafae-2776-4c86-aa6f-ab2cf5acff92"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece above the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 983, "end_step": 1118, "id": "e477f3c2-b7c7-4459-b156-1776d61bed56"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden base by lowering the part down along the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1119, "end_step": 1234, "id": "d1f34e8d-1cdf-4bc2-8f39-bf7d022cd7a5"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the middle peg on the wooden base."}, {"label": "goal", "start_step": 1235, "end_step": 1370, "id": "2bc5854e-ddcb-42a4-9be0-bb5fa4fcaa35"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1371, "end_step": 1446, "id": "8b73afc9-a590-4f96-ac13-0d0974cf75af"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1447, "end_step": 1582, "id": "ea46d72d-8f03-43ad-af49-646ecbb070ae"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the table and transports it leftward and upward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical part with the purple peg on the wooden rack, adjusting position and pressing downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple vertical post on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1583, "end_step": 1682, "id": "1bc362a5-39cf-46aa-9dc1-269cc3daf5c5"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing and adjusting around the piece."}, {"label": "goal", "start_step": 1683, "end_step": 1810, "id": "5354f61c-5ac8-46ff-959b-acd9505661f8"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the purple cylindrical piece on the rightmost slot of the wooden base, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 1811, "end_step": 1904, "id": "debb950c-ff7e-48c9-81af-8c19f4d42d4b"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "goal", "start_step": 1905, "end_step": 2020, "id": "7dbd0a4c-e975-48aa-924a-277661b6d565"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring off the black table and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring with the purple rod, lowering the ring down the rod until it is fully seated."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand fits the held small component onto the top of the front-right white column on the wooden base and releases the grip."}, {"label": "goal", "start_step": 2021, "end_step": 2130, "id": "b52e94bb-03ea-4de4-a176-b994ca087e4b"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table and adjusts the grip to be stable."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green square block upward away from the table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2264, "id": "224e7780-c334-43a3-b80c-3116dffe9810"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block leftward to above the rightmost column of the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white pillar of the test tube rack by moving it downward."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the rightmost white pillar without moving."}, {"label": "home", "start_step": 2313, "end_step": 2334, "id": "PR6ybjefU94sCZ5H5-qGP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block below the left of the pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position below the leftmost purple peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the leftmost purple peg by aligning the block hole with the peg and inserting the peg into it."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block up from the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost rear peg of the wooden peg rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost rear peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost rear peg of the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, moving the nut downwards to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach_grasp: Right hand reaches toward and grasps the white hexagonal block on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the wooden rack with purple vertical posts."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base by moving it downward, and releases the ring once it is fitted."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece above the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden base by lowering the part down along the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the middle peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the table and transports it leftward and upward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical part with the purple peg on the wooden rack, adjusting position and pressing downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple vertical post on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the purple cylindrical piece on the rightmost slot of the wooden base, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring off the black table and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring with the purple rod, lowering the ring down the rod until it is fully seated."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand fits the held small component onto the top of the front-right white column on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table and adjusts the grip to be stable."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green square block upward away from the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block leftward to above the rightmost column of the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white pillar of the test tube rack by moving it downward."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the rightmost white pillar without moving."}], "episode_index": 32}
+{"source_uid": "66fce690da73ae1b", "num_frames": 2449, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-left purple rod of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "6748849a-590e-4235-9737-fe3b974bd974"}, {"label": "valid", "start_step": 0, "end_step": 2422, "id": "4WDPSS1jN_G4vdEzYpESs"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block and adjusts grip to stable state."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand pulls the white hexagonal block upward to separate it from the purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand carries the separated white hexagonal block downward away from the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 135, "end_step": 384, "id": "1efc44eb-8789-4a4f-8b01-d91dcb933a72"}, {"label": "subtasks", "start_step": 150, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden base, adjusting its position to fit securely on the peg."}, {"label": "goal", "start_step": 385, "end_step": 462, "id": "6738939b-2358-42ee-91a8-109fe7b6bd27"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the leftmost purple rod of the wooden bracket."}, {"label": "goal", "start_step": 463, "end_step": 634, "id": "ef038d68-dadf-4990-b7b4-97f2e434209f"}, {"label": "subtasks", "start_step": 488, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting its position to fit down the rod properly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 635, "end_step": 712, "id": "95b255a1-b924-4101-9fba-085225be391a"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 713, "end_step": 802, "id": "940febd5-b500-4966-9e22-4920048a8916"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 803, "end_step": 888, "id": "658fcc04-1caf-48f4-bfca-370ff4df0e05"}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 889, "end_step": 1004, "id": "533a50cd-5ce3-4277-ba0e-29c9e0e03fb9"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hollow cylindrical block upwards, away from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hollow cylindrical block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the purple rod, pressing it down to fit in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1005, "end_step": 1098, "id": "ec49da3c-6936-49d4-b346-b651757f0a4a"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a stable grasp."}, {"label": "goal", "start_step": 1099, "end_step": 1206, "id": "89c66e36-bf58-4455-bb28-70520c8a6e32"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1280, "id": "b069cc5f-1409-42bb-9c5d-1fb88a28ace9"}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the black tabletop."}, {"label": "goal", "start_step": 1281, "end_step": 1604, "id": "c4ae7ad8-9400-4010-985c-20ae10e9aea3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps and adjusts its hold on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base block set."}, {"label": "goal", "start_step": 1605, "end_step": 1750, "id": "171e8b2c-b05a-46b3-b668-a3d90c8bbc34"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the black table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1751, "end_step": 1876, "id": "4301bec5-ec07-488b-a4a1-7813f2673adb"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1877, "end_step": 1970, "id": "f4901294-2eb4-4ce9-8c6c-cb29eea2fdb0"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white annular object towards the purple pole on the central wooden base."}, {"label": "goal", "start_step": 1971, "end_step": 2118, "id": "3e4f41e0-e532-4299-87ed-0c75e9875818"}, {"label": "subtasks", "start_step": 1995, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate_release: Right hand fits the white annular object onto the purple pole on the wooden base and releases the grip once the object is positioned."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white sleeve onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 2119, "end_step": 2202, "id": "a777c508-d034-4a25-a3ad-6d48714361f6"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table surface."}, {"label": "goal", "start_step": 2203, "end_step": 2372, "id": "0a936a49-b252-4bcc-87e5-ce650a0bc3ed"}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block to the position above the rightmost white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white pillar by aligning the hole of the block with the pillar."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down along the white pillar until it fits tightly."}, {"label": "home", "start_step": 2423, "end_step": 2448, "id": "W1i8cnRMBdLCAo6SQET-U"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block and adjusts grip to stable state."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand pulls the white hexagonal block upward to separate it from the purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand carries the separated white hexagonal block downward away from the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden base, adjusting its position to fit securely on the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the leftmost purple rod of the wooden bracket."}, {"label": "subtasks", "start_step": 488, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting its position to fit down the rod properly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hollow cylindrical block upwards, away from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hollow cylindrical block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the purple rod, pressing it down to fit in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps and adjusts its hold on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base block set."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the black table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white annular object towards the purple pole on the central wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate_release: Right hand fits the white annular object onto the purple pole on the wooden base and releases the grip once the object is positioned."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block to the position above the rightmost white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white pillar by aligning the hole of the block with the pillar."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down along the white pillar until it fits tightly."}], "episode_index": 33}
+{"source_uid": "8e410c18b3167bd2", "num_frames": 3716, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards and leftwards from its initial raised position on the right side of the table, approaching the green hexagonal nut in front-left of the wooden peg rack, with fingers kept extended."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "e1d9ddf9-a664-4d3b-86e5-99d65ef683fc"}, {"label": "valid", "start_step": 0, "end_step": 3696, "id": "xzN7sdTvQE170g5y8w93_"}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal nut on the table, closing fingers and adjusting wrist position to form a grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand holds the green hexagonal block on the table surface and lifts it upward until the block is fully off the table."}, {"label": "goal", "start_step": 131, "end_step": 464, "id": "b230dc31-c5b5-4379-8abc-4bc1701af8e0"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 158, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block, aligns its central hole with the purple peg, and lowers it to nest onto the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block that is fully nested on the purple peg with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses down on the top of the green hexagonal block on the purple wooden peg to secure it in place."}, {"label": "goal", "start_step": 465, "end_step": 556, "id": "9688720c-f763-43ba-996d-afa8b9fc03c8"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it off the table surface."}, {"label": "goal", "start_step": 557, "end_step": 684, "id": "199a07e5-32e7-4bc7-b504-27ff57fd1c1c"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden assembly base, moving the nut directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple post, fitting the hole onto the post tip."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post, placing the nut onto the post where it is supported by the post surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the purple post without moving, maintaining a stable closed grip around the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place the block onto the purple peg of the wooden block stand until the block is stably supported, opens fingers to release contact with the block."}, {"label": "goal", "start_step": 685, "end_step": 760, "id": "b7c90dca-fa69-4bb5-9450-4bb2cf98e1cc"}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish contact and form a grasp."}, {"label": "goal", "start_step": 761, "end_step": 886, "id": "90b3d635-6a27-494e-98bb-276a4218db0e"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal nut vertically along the purple peg until the nut rests steadily on the green block fixed on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach_grasp: Right hand moves downward from the area above the wooden peg stand toward the white hexagonal nut on the table near the stand, with fingers closing around the nut to form a stable grasp."}, {"label": "goal", "start_step": 887, "end_step": 954, "id": "b50c869e-5b03-43e7-9128-845dfa2d87de"}, {"label": "goal", "start_step": 955, "end_step": 1070, "id": "4f513729-824f-46ae-bc5f-2e11053399be"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg, with slight wrist adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 1071, "end_step": 1146, "id": "1a9ba31b-5139-452d-9bc8-08e55a72b230"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 1147, "end_step": 1292, "id": "3a95c0e1-900d-4042-8583-da95fd04d584"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod until the block is stably supported by the white hexagonal block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand positions the green block onto the purple rod of the wooden stand and opens fingers to release the block, leaving the block supported by the rod."}, {"label": "goal", "start_step": 1293, "end_step": 1388, "id": "8146f04e-a150-4c82-8a6e-1c1c34c180c6"}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards with an open hand towards the white hexagonal block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand moves upward while gripping the white hexagonal block, lifting the block completely off the table surface."}, {"label": "goal", "start_step": 1389, "end_step": 1504, "id": "b303508e-08a0-488b-a433-3932c90d0edc"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hollow cylindrical block and moves it upward and forward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg on the wooden base and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses the top of the white hexagonal block on the stacking base to push it down into a secured vertical position."}, {"label": "goal", "start_step": 1505, "end_step": 1592, "id": "b922c6fe-5c7b-4109-b84b-dfcafb3a80a3"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position directly above the purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1593, "end_step": 1892, "id": "c32865dd-c469-4f9d-8f49-79a40d6f7491"}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it down and right to the position above the short white rod on the wooden stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the short white rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the short white rod without visible movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple rod on the wooden base until the block is supported by the rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1893, "end_step": 1998, "id": "b636f07b-1cef-4dab-be6a-caf2a97c2173"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, curls and closes fingers around the nut to form a grasp, with minor adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface until the block fully separates from the table."}, {"label": "goal", "start_step": 1999, "end_step": 2434, "id": "3cb4d3fc-c5ae-4805-a86f-7cc0da0f0043"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block forward to position it above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block that fell onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block upward and back toward the wooden rack, positioning it above the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2429, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand extends the index finger to press down on the purple-topped white cylinder placed on the wooden block tray."}, {"label": "goal", "start_step": 2435, "end_step": 2520, "id": "51151729-c467-4b72-93d0-6e6b0b8a6ae3"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward and rightward with open fingers, approaching the small green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the small green square block, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green block steady on the dark table surface without moving."}, {"label": "goal", "start_step": 2521, "end_step": 3646, "id": "30409561-edf0-4e2f-8da3-ed2c39bc173c"}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand holds the green block, aligns its central hole with the purple post, adjusts position slightly to attempt fitting the block onto the post."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the misaligned green block away from the wooden base, moving it back down toward the table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2737, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block to rest on the table surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2738, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: idle: Right hand remains empty next to the green block on the table without moving."}, {"label": "subtasks", "start_step": 2820, "end_step": 2887, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting grip to hold the block securely."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2918, "end_step": 3127, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's central hole with the purple post, adjusts angle and position to attempt fitting, opening fingers to release the block which falls onto the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3231, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty toward the green block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3261, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the fallen green block to establish a stable grip."}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green block back to its original position on the table."}, {"label": "subtasks", "start_step": 3278, "end_step": 3367, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle to stabilize grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3411, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple post."}, {"label": "subtasks", "start_step": 3412, "end_step": 3659, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's hole with the purple post, lowers the block to fit it securely onto the post with small positional adjustments, opening fingers to release the properly seated block."}, {"label": "home", "start_step": 3697, "end_step": 3715, "id": "PG3_li-F1Gxo_JWF7jz8I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards and leftwards from its initial raised position on the right side of the table, approaching the green hexagonal nut in front-left of the wooden peg rack, with fingers kept extended."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal nut on the table, closing fingers and adjusting wrist position to form a grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand holds the green hexagonal block on the table surface and lifts it upward until the block is fully off the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 158, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block, aligns its central hole with the purple peg, and lowers it to nest onto the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block that is fully nested on the purple peg with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses down on the top of the green hexagonal block on the purple wooden peg to secure it in place."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it off the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden assembly base, moving the nut directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple post, fitting the hole onto the post tip."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post, placing the nut onto the post where it is supported by the post surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the purple post without moving, maintaining a stable closed grip around the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place the block onto the purple peg of the wooden block stand until the block is stably supported, opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal nut vertically along the purple peg until the nut rests steadily on the green block fixed on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach_grasp: Right hand moves downward from the area above the wooden peg stand toward the white hexagonal nut on the table near the stand, with fingers closing around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg, with slight wrist adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod until the block is stably supported by the white hexagonal block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand positions the green block onto the purple rod of the wooden stand and opens fingers to release the block, leaving the block supported by the rod."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards with an open hand towards the white hexagonal block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand moves upward while gripping the white hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hollow cylindrical block and moves it upward and forward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg on the wooden base and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses the top of the white hexagonal block on the stacking base to push it down into a secured vertical position."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it down and right to the position above the short white rod on the wooden stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the short white rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the short white rod without visible movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple rod on the wooden base until the block is supported by the rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, curls and closes fingers around the nut to form a grasp, with minor adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block forward to position it above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block that fell onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block upward and back toward the wooden rack, positioning it above the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2429, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand extends the index finger to press down on the purple-topped white cylinder placed on the wooden block tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward and rightward with open fingers, approaching the small green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the small green square block, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green block steady on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand holds the green block, aligns its central hole with the purple post, adjusts position slightly to attempt fitting the block onto the post."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the misaligned green block away from the wooden base, moving it back down toward the table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2737, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block to rest on the table surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2738, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: idle: Right hand remains empty next to the green block on the table without moving."}, {"label": "subtasks", "start_step": 2820, "end_step": 2887, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting grip to hold the block securely."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2918, "end_step": 3127, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's central hole with the purple post, adjusts angle and position to attempt fitting, opening fingers to release the block which falls onto the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3231, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty toward the green block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3261, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the fallen green block to establish a stable grip."}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green block back to its original position on the table."}, {"label": "subtasks", "start_step": 3278, "end_step": 3367, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle to stabilize grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3411, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple post."}, {"label": "subtasks", "start_step": 3412, "end_step": 3659, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's hole with the purple post, lowers the block to fit it securely onto the post with small positional adjustments, opening fingers to release the properly seated block."}], "episode_index": 34}
+{"source_uid": "06ab3a685c405092", "num_frames": 2816, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table, with fingers opening and tilting forward slightly. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "002c5874-11a0-4220-8e54-9d90329cc4ea"}, {"label": "valid", "start_step": 0, "end_step": 2786, "id": "UTawXuArprT8JyL0KLtY1"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table surface and mates it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost purple peg of the wooden rack."}, {"label": "goal", "start_step": 123, "end_step": 274, "id": "027f41fc-04a7-4c53-8b21-32c2d6612b3f"}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green block, then releases the block."}, {"label": "goal", "start_step": 275, "end_step": 390, "id": "252f3b49-5ea5-4493-9dfd-fb82dcd6ca5d"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left-middle area of the table."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it to the position above the leftmost purple rod on the wooden rack."}, {"label": "goal", "start_step": 391, "end_step": 546, "id": "282aa848-e2c0-4ce1-953a-364b89ee91d2"}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod by lowering it down the rod to the green base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 547, "end_step": 632, "id": "7c8552a2-1310-4059-ad80-685284640182"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the white hexagonal block on the left side of the black table surface."}, {"label": "goal", "start_step": 633, "end_step": 762, "id": "da9620b9-a3a1-4fdf-ba95-b27a435ed25f"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by lowering it down to fit on the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the left front peg of the wooden base, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 763, "end_step": 844, "id": "04e23180-2c5c-4f6b-8680-134232d014f1"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden base, with fingers closing around the block."}, {"label": "goal", "start_step": 845, "end_step": 1478, "id": "2fc939e3-899c-463f-90d2-3959bffca98b"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the white hollow block onto the middle purple rod and lowers it onto the supporting green piece below."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the middle purple rod and moves toward the fallen white hollow block on the table at the left front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_fallen_block: Right hand adjusts the fallen white hollow block on the table by pushing and repositioning it to stand upright."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upright white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the leftmost rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the leftmost rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block onto the top of the lower white block on the leftmost rod until it is supported."}, {"label": "subtasks", "start_step": 1208, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the leftmost rod and moves toward the white hollow block on the table at the right front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table at the right front of the wooden base, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the rightmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block down along the rightmost purple rod toward the supporting surface below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg and releases it."}, {"label": "goal", "start_step": 1479, "end_step": 1590, "id": "a66aa46b-8048-4764-b44f-d308ef8d5252"}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1720, "id": "dc8bffac-2e7a-4897-9e18-2c47d01210e1"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and moves it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, lowering it down to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring block onto the middle purple rod of the wooden base and releases it."}, {"label": "goal", "start_step": 1721, "end_step": 1806, "id": "2deadc75-cb4d-44d3-84cc-ae5a783d7302"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring block on the black table with fingers closing and adjusting for a stable grip."}, {"label": "goal", "start_step": 1807, "end_step": 1936, "id": "27c3f981-3118-479c-803d-5719b457dcb2"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the purple rod with fingers opening."}, {"label": "goal", "start_step": 1937, "end_step": 2028, "id": "dbbb6288-5cee-4634-89f1-269b18110b23"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the table surface."}, {"label": "goal", "start_step": 2029, "end_step": 2138, "id": "9932b5e1-02c2-49c4-8bf6-635046edde7d"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 2139, "end_step": 2250, "id": "2c88006e-a000-4447-8d6d-a68f97c375be"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring-shaped object from the right side of the table, raising it off the table surface."}, {"label": "goal", "start_step": 2251, "end_step": 2460, "id": "f1b9da3f-6de7-4490-aa54-8dd5d140f3b7"}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring-shaped object to the position above the front-right post of the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object onto the front-right post of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object on the front-right post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, fingers open and separate from the cylinder."}, {"label": "goal", "start_step": 2461, "end_step": 2610, "id": "fecf0027-dac4-4075-b28e-6def771ca954"}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 2535, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upward, making it leave the table surface."}, {"label": "goal", "start_step": 2611, "end_step": 2734, "id": "188d596a-2448-4af3-8aa9-f4364aeeb7c8"}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2744, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with a purple top on the wooden rack by lowering and fitting it in place."}, {"label": "home", "start_step": 2787, "end_step": 2815, "id": "jr6qQ8KJxLULWOiGnkchx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table, with fingers opening and tilting forward slightly. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table surface and mates it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green block, then releases the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left-middle area of the table."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod by lowering it down the rod to the green base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by lowering it down to fit on the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the left front peg of the wooden base, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden base, with fingers closing around the block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the white hollow block onto the middle purple rod and lowers it onto the supporting green piece below."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the middle purple rod and moves toward the fallen white hollow block on the table at the left front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_fallen_block: Right hand adjusts the fallen white hollow block on the table by pushing and repositioning it to stand upright."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upright white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the leftmost rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the leftmost rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block onto the top of the lower white block on the leftmost rod until it is supported."}, {"label": "subtasks", "start_step": 1208, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the leftmost rod and moves toward the white hollow block on the table at the right front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table at the right front of the wooden base, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the rightmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block down along the rightmost purple rod toward the supporting surface below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and moves it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, lowering it down to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring block onto the middle purple rod of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring block on the black table with fingers closing and adjusting for a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring-shaped object from the right side of the table, raising it off the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring-shaped object to the position above the front-right post of the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object onto the front-right post of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object on the front-right post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, fingers open and separate from the cylinder."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 2535, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2744, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with a purple top on the wooden rack by lowering and fitting it in place."}], "episode_index": 35}
+{"source_uid": "437219a7025e62dd", "num_frames": 2870, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves forward and left from the right side towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "1936b827-b595-4b00-afb4-dcf0cfef88d3"}, {"label": "valid", "start_step": 0, "end_step": 2843, "id": "xLgYTvAb3tshfofz3yR6G"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 155, "end_step": 292, "id": "6f01a46a-b888-4430-8ae7-68cd4c3b7550"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green block with the purple peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 293, "end_step": 386, "id": "c1a14ec1-fa46-4a3f-ae3e-3d70ce9bfceb"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden base."}, {"label": "goal", "start_step": 387, "end_step": 478, "id": "9b44f21a-a41e-4859-8e68-55c3e5cfb593"}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base by aligning and pressing it down."}, {"label": "goal", "start_step": 479, "end_step": 558, "id": "6940882c-96bc-4fa6-b884-18a8b52b2ff6"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical sleeve on the black table."}, {"label": "goal", "start_step": 559, "end_step": 710, "id": "ee2d19a1-bc71-440b-a22d-d63af741835e"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 711, "end_step": 802, "id": "4e63ccd8-1e95-487a-b516-1dbe60fcd20d"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white ring up from the black tabletop."}, {"label": "goal", "start_step": 803, "end_step": 892, "id": "038bb426-8c25-473d-9a2b-5132fcd66574"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand moves the white ring horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns and inserts the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: release: Right hand releases the white ring which has been fitted onto the purple rod."}, {"label": "goal", "start_step": 893, "end_step": 970, "id": "d3a91389-1763-4b59-bdc1-3666e6eaf86c"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the target peg on the wooden base."}, {"label": "goal", "start_step": 971, "end_step": 1438, "id": "31755284-4ee1-4f25-b9ee-13e20a2407d0"}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the green block with the target white peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1439, "end_step": 1550, "id": "5b17f0a3-2d8b-4149-91cb-be31fe11c989"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves empty towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white ring on the black table."}, {"label": "goal", "start_step": 1551, "end_step": 1716, "id": "8a2176ba-7a21-44a7-af13-4b714d36006f"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1717, "end_step": 1842, "id": "6c0eed88-9c66-4fb7-9497-3a55546b3db6"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1843, "end_step": 1958, "id": "a1d994ff-4930-4e86-ba26-bdd233820f02"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1959, "end_step": 2064, "id": "2b1372c2-afd5-45f5-a47c-6db9343fbffd"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white ring on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white annular object from the right side of the table towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2065, "end_step": 2470, "id": "f4c67ff4-7779-4879-a4ac-13fde4605563"}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the purple rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2152, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the upper white annular object placed on the purple rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the grasped white annular object upward along the purple rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the lifted white annular object towards the adjacent rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the adjacent rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the wooden base with other assembled blocks."}, {"label": "goal", "start_step": 2471, "end_step": 2634, "id": "e23cdd35-0a1b-4470-b2b8-23727c6819e2"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the green square block on the black table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: idle: Right hand remains empty near the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2595, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 2635, "end_step": 2790, "id": "29ae3d29-e809-4158-be57-d88be5cdfffd"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the target white post on the wooden board."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target white post on the wooden board until it is stably fitted."}, {"label": "home", "start_step": 2844, "end_step": 2869, "id": "Isu0BgcajWD3GAFSYksZk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves forward and left from the right side towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green block with the purple peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base by aligning and pressing it down."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white ring up from the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand moves the white ring horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns and inserts the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: release: Right hand releases the white ring which has been fitted onto the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the green block with the target white peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves empty towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white ring on the black table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white ring on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white annular object from the right side of the table towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the purple rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2152, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the upper white annular object placed on the purple rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the grasped white annular object upward along the purple rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the lifted white annular object towards the adjacent rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the adjacent rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the wooden base with other assembled blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the green square block on the black table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: idle: Right hand remains empty near the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2595, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the target white post on the wooden board."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target white post on the wooden board until it is stably fitted."}], "episode_index": 36}
+{"source_uid": "e26c6426b14ee14b", "num_frames": 2401, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves from its initial right position toward the front-left green hexagonal block on the table, with fingers extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "6007a022-f4ff-49cb-a8ac-ee8c2fdccb37"}, {"label": "valid", "start_step": 0, "end_step": 2374, "id": "jEUSDpl1xZogwj1WHPN7Y"}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block, making slight positional adjustments of the fingers and wrist to form a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, beginning to raise the block off the table surface."}, {"label": "goal", "start_step": 151, "end_step": 268, "id": "58cfc225-e707-4e69-b801-a92fa8c25033"}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg until it is seated on the green block below."}, {"label": "goal", "start_step": 269, "end_step": 370, "id": "2821b426-4954-453e-bbc6-611189aa7516"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the loose white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact to establish a stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and forward to the position directly above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 371, "end_step": 560, "id": "7005dd37-01d2-4f88-b7ef-65aee392d5bf"}, {"label": "subtasks", "start_step": 390, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, moves the nut downward to fit it onto the peg until it rests on the green block beneath."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the left purple peg until the block is supported by the peg above the green block, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 561, "end_step": 658, "id": "a1272ed8-4f3e-450d-8608-887875ecf9ab"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and forward from the peg board toward the front-left white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making slight finger adjustments to establish contact with the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 659, "end_step": 792, "id": "a5bcc147-56e1-4b0f-adf6-3d067441dffd"}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg, making small positional adjustments."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg of the wooden block assembly without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block, positions it on top of the existing stacked blocks on the wooden base, adjusts it to sit stably, and releases its grip on the block."}, {"label": "goal", "start_step": 793, "end_step": 888, "id": "2a21d907-d8de-4ac9-88f1-6030c4a499c2"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward with an empty grip, approaching the white hexagonal block located near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the target white hexagonal block, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "goal", "start_step": 889, "end_step": 982, "id": "264cb30a-7ac4-487f-9c42-8dd156881473"}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden stand and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white cylindrical block resting on the purple peg, opening fingers to separate from the block as it sits stably on the wooden pegboard."}, {"label": "goal", "start_step": 983, "end_step": 1284, "id": "91c41bb3-4001-416c-92ae-3e7b397b8ee3"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the front green hexagonal block on the table, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact points to form an initial grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_place: Right hand lifts the green hexagonal block slightly off the table, moves it a short distance, then places it back down onto the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand makes small continuous adjustments of fingers and wrist around the green hexagonal block on the table, repositioning contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand holds the green hexagonal block with a stable grip and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green block, lifts it off the table surface, and moves it upward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1285, "end_step": 1392, "id": "c2396ec4-55dd-4b18-b9b4-dcd2898be77b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the green block to align its central hole with the purple peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base to seat the block, and opens fingers to release the seated block."}, {"label": "goal", "start_step": 1393, "end_step": 1472, "id": "d68b7f38-3128-4652-9d26-113b3a3f6d7c"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand grips the white hexagonal block firmly and lifts it upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 1473, "end_step": 1606, "id": "657701a0-3cb0-4b9b-9431-628dda0d97bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it leftward and upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit onto the rod and rest on the green block below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white hexagonal block on top of the rightmost purple rod, opening its fingers to separate from the secured block."}, {"label": "goal", "start_step": 1607, "end_step": 1692, "id": "db74948e-dea1-469e-a843-898b5ecf4db7"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the table next to the wooden block base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making slight grip adjustments to hold the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal block and moves upward to position it directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1693, "end_step": 1774, "id": "e39b76b3-1aa9-4b6d-b5e1-653b5bcfd1b1"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod without moving, keeping the block's hole aligned with the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod, placing it onto the top of the stacked white block below."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple rod of the wooden block rack."}, {"label": "goal", "start_step": 1775, "end_step": 1876, "id": "1b42a747-78e9-4300-b9e9-21c829d409c0"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden block rack toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "goal", "start_step": 1877, "end_step": 1992, "id": "c97b7f58-a44e-4e59-878a-36875eabdea4"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, moves it downward to place it into the empty slot on the wooden base, then releases fingers as the block becomes stably supported by the base."}, {"label": "goal", "start_step": 1993, "end_step": 2198, "id": "8ef1dbba-c8f3-4b21-9fa4-d0b540964f29"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green cubic block, adjusts finger positions and slightly rotates the block to turn it from a tilted state to an upright state with the circular hole facing upward, making continuous adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand firmly grips the green cubic block, lifts it vertically upward from the dark table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2199, "end_step": 2336, "id": "a8a0e27f-7df0-4011-85d4-9105368629da"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the green block, moves it diagonally upward and leftward through the air to the position directly above the empty white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand holds the green block, lowers it vertically down toward the empty white peg, makes small positional adjustments to align the block with the peg until the block rests stably on the peg."}, {"label": "home", "start_step": 2375, "end_step": 2400, "id": "y7mpsTjxbFxSDW4cjBuFb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves from its initial right position toward the front-left green hexagonal block on the table, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block, making slight positional adjustments of the fingers and wrist to form a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, beginning to raise the block off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg until it is seated on the green block below."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the loose white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact to establish a stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and forward to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, moves the nut downward to fit it onto the peg until it rests on the green block beneath."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the left purple peg until the block is supported by the peg above the green block, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and forward from the peg board toward the front-left white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making slight finger adjustments to establish contact with the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg, making small positional adjustments."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg of the wooden block assembly without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block, positions it on top of the existing stacked blocks on the wooden base, adjusts it to sit stably, and releases its grip on the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward with an empty grip, approaching the white hexagonal block located near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the target white hexagonal block, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden stand and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white cylindrical block resting on the purple peg, opening fingers to separate from the block as it sits stably on the wooden pegboard."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the front green hexagonal block on the table, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact points to form an initial grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_place: Right hand lifts the green hexagonal block slightly off the table, moves it a short distance, then places it back down onto the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand makes small continuous adjustments of fingers and wrist around the green hexagonal block on the table, repositioning contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand holds the green hexagonal block with a stable grip and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green block, lifts it off the table surface, and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the green block to align its central hole with the purple peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base to seat the block, and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand grips the white hexagonal block firmly and lifts it upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it leftward and upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit onto the rod and rest on the green block below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white hexagonal block on top of the rightmost purple rod, opening its fingers to separate from the secured block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the table next to the wooden block base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making slight grip adjustments to hold the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal block and moves upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod without moving, keeping the block's hole aligned with the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod, placing it onto the top of the stacked white block below."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple rod of the wooden block rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden block rack toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, moves it downward to place it into the empty slot on the wooden base, then releases fingers as the block becomes stably supported by the base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green cubic block, adjusts finger positions and slightly rotates the block to turn it from a tilted state to an upright state with the circular hole facing upward, making continuous adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand firmly grips the green cubic block, lifts it vertically upward from the dark table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the green block, moves it diagonally upward and leftward through the air to the position directly above the empty white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand holds the green block, lowers it vertically down toward the empty white peg, makes small positional adjustments to align the block with the peg until the block rests stably on the peg."}], "episode_index": 37}
+{"source_uid": "5928e44abf1ef49d", "num_frames": 2222, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves leftward from the right side of the table towards the white cap on the front-left purple rod of the test tube rack."}, {"label": "goal", "start_step": 0, "end_step": 158, "id": "ac02baeb-1ff8-42c2-9157-87c1512ae7d9"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "00VKFiSJU75jleHQycZjs"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white cap on the front-left purple rod of the test tube rack, with slight grip adjustment."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: press: Right hand presses the white cap downward along the purple rod continuously."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the green perforated cubic block from the black table and transports it to the position above the peg of the wooden rack."}, {"label": "goal", "start_step": 159, "end_step": 252, "id": "1c0ba5a2-1cee-42a2-9c7a-23856d59a056"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the green perforated cubic block onto the wooden rack's peg by aligning its hole with the peg and moving downward."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the green perforated cubic block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the green block on the front-left peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 253, "end_step": 344, "id": "7e1873c1-80c9-4d2b-8820-8211a6cc7866"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface and adjusts the grip stably."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward toward the purple pegs on the wooden base."}, {"label": "goal", "start_step": 345, "end_step": 450, "id": "65602638-dfd4-48bc-9bfc-140234139991"}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the front-left purple peg of the wooden base by lowering and adjusting it."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical piece onto the left-front purple peg of the wooden rack, releasing it once the piece is positioned on the peg."}, {"label": "goal", "start_step": 451, "end_step": 550, "id": "a39ca9c0-534a-4df0-9043-9633d7a5923f"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece with a central hole on the black table without moving."}, {"label": "goal", "start_step": 551, "end_step": 714, "id": "58e75d13-1ba3-4eba-a5a7-f9ada859e4a0"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to above the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal piece onto the front-left purple rod of the test tube rack until it reaches the bottom."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base before releasing it."}, {"label": "goal", "start_step": 715, "end_step": 832, "id": "cd97c9b2-a592-4875-bd5e-ba6295ff1374"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white ring above the front green cubic block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp_lift: Right hand grasps and lifts the white ring above the front green cubic block off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 833, "end_step": 990, "id": "0a454af0-380e-4653-b5c2-4aa71d8f7fd4"}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place: Right hand moves downward to place the white hexagonal part onto the top of the rightmost purple peg."}, {"label": "goal", "start_step": 991, "end_step": 1106, "id": "d8011661-e2fa-4aa2-8bde-1c2028dac343"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening away from the part."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: other:slight_finger_flexion: Left hand slightly flexes its fingers upward, with overall hand position unchanged. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the upper green square block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "goal", "start_step": 1107, "end_step": 1204, "id": "9a5da684-f894-402b-bfb6-c417589fbc1f"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden test tube rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place: Right hand places the green block onto a white test tube in the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the white test tube without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 1205, "end_step": 1318, "id": "a485b6fa-47c3-4380-bbde-33e333e50563"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1319, "end_step": 1476, "id": "833e15fc-3d41-44b3-8713-aa9c91d111b2"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the black table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the white cylindrical object with the purple rod on the wooden rack by lowering it down the rod, and releases the object upon mating completion."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1477, "end_step": 1564, "id": "7a3195ef-85ff-40cc-909f-11e057550701"}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers closing around it."}, {"label": "goal", "start_step": 1565, "end_step": 1684, "id": "12994276-1b2f-461b-8e00-536feb5171c7"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand moves the white hollow hexagonal block downward to fit it onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward from the upper wooden block set toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1685, "end_step": 1798, "id": "9c052888-d11a-4515-a8ad-91e25e69d8f6"}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1799, "end_step": 1932, "id": "e3365716-cc4e-46f4-bac0-19fa3033d73f"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "goal", "start_step": 1933, "end_step": 2034, "id": "29e6e9e4-5fda-410c-98b8-3e51c7941d72"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: release: Right hand releases the white ring on the purple rod, with fingers opening slightly."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift: Right hand lifts the green ring-shaped object from the right side of the black table surface."}, {"label": "goal", "start_step": 2035, "end_step": 2142, "id": "70cd58fc-e35c-4d44-ae75-8f4da24b0364"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: transport: Right hand transports the green ring-shaped object leftward and upward to the top of the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the green ring-shaped object with the rightmost bottle with a purple stem on the wooden rack and releases the object."}, {"label": "home", "start_step": 2194, "end_step": 2221, "id": "qxfcwcFUxto6AgfOqweVK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves leftward from the right side of the table towards the white cap on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white cap on the front-left purple rod of the test tube rack, with slight grip adjustment."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: press: Right hand presses the white cap downward along the purple rod continuously."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the green perforated cubic block from the black table and transports it to the position above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the green perforated cubic block onto the wooden rack's peg by aligning its hole with the peg and moving downward."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the green perforated cubic block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the green block on the front-left peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface and adjusts the grip stably."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the front-left purple peg of the wooden base by lowering and adjusting it."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical piece onto the left-front purple peg of the wooden rack, releasing it once the piece is positioned on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece with a central hole on the black table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to above the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal piece onto the front-left purple rod of the test tube rack until it reaches the bottom."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white ring above the front green cubic block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp_lift: Right hand grasps and lifts the white ring above the front green cubic block off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place: Right hand moves downward to place the white hexagonal part onto the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening away from the part."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: other:slight_finger_flexion: Left hand slightly flexes its fingers upward, with overall hand position unchanged. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the upper green square block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden test tube rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place: Right hand places the green block onto a white test tube in the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the white test tube without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the black table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the white cylindrical object with the purple rod on the wooden rack by lowering it down the rod, and releases the object upon mating completion."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand moves the white hollow hexagonal block downward to fit it onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward from the upper wooden block set toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: release: Right hand releases the white ring on the purple rod, with fingers opening slightly."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift: Right hand lifts the green ring-shaped object from the right side of the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: transport: Right hand transports the green ring-shaped object leftward and upward to the top of the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the green ring-shaped object with the rightmost bottle with a purple stem on the wooden rack and releases the object."}], "episode_index": 38}
+{"source_uid": "4b5823d8e246b8be", "num_frames": 2106, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture by rotating fingers towards the center of the table. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 166, "id": "bc7cc070-5df1-425a-b55e-65bfbff027aa"}, {"label": "valid", "start_step": 0, "end_step": 2081, "id": "hvE1d1oSWCZGd0As7btvx"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the leftmost purple rod, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull: Right hand pulls the white hexagonal sleeve upwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the removed white hexagonal sleeve and moves slightly towards the lower right direction."}, {"label": "goal", "start_step": 167, "end_step": 308, "id": "87023046-1905-4657-ac16-5e2aab069f8f"}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black desktop and transports it to above the leftmost rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost rod of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost rod of the wooden base to the bottom position."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base on the table."}, {"label": "goal", "start_step": 309, "end_step": 406, "id": "35b8da6a-a5c4-46bf-b7bf-95fb69222ff9"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the leftmost purple rod of the assembly rack."}, {"label": "goal", "start_step": 407, "end_step": 516, "id": "24bd25aa-4e02-444f-bd8c-5b6f4e919b6e"}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod for assembly."}, {"label": "goal", "start_step": 517, "end_step": 618, "id": "1a99283a-27cc-4069-bcdd-5ef8a54ae50c"}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "goal", "start_step": 619, "end_step": 728, "id": "a14b64ec-52d9-4fc7-a2db-bb7eba0c51ba"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_press: Right hand places the white hexagonal block onto the aligned purple rod and presses it down to fit in position."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 729, "end_step": 806, "id": "db58a9bb-6831-4747-96b7-3c9edde0d16b"}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring placed on the purple post."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 807, "end_step": 956, "id": "e8f472b5-f715-4f11-b535-b9b00e18c31f"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 957, "end_step": 1074, "id": "502075a5-592f-4f36-8495-fdc5c63c0dee"}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1075, "end_step": 1206, "id": "36c13710-1ec5-45f6-bd64-426f1d8e0e05"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to the position above the top left peg of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green block onto the top left peg of the wooden base by fitting it over the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the green block fitted on the top left peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 1207, "end_step": 1306, "id": "b0b36b83-2ac8-4f61-992f-960f66b0cb7b"}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and prepare to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1307, "end_step": 1440, "id": "5fe15b1d-f854-4c10-965d-0f09bbfe18e1"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the test tube rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the top of the target test tube on the wooden rack."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1441, "end_step": 1524, "id": "6b22fdd2-53b4-4c0d-a0db-6f8c4a25e286"}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1525, "end_step": 1618, "id": "1dcb5d03-cb5e-459c-904a-9b00256fdedc"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1619, "end_step": 1700, "id": "56417ced-26b1-4690-802d-ba8704d14ea2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand holds the white ring and moves it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1701, "end_step": 1804, "id": "d3667a0b-8fc1-451c-a650-0f423fb36e49"}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white ring with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the top of the white cylinder with green base on the wooden board."}, {"label": "goal", "start_step": 1805, "end_step": 1924, "id": "d7f6d819-8be4-45e7-aeb8-c03bd5dd366a"}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green cubic block, adjusts finger positions to form a stable grip on the block."}, {"label": "goal", "start_step": 1925, "end_step": 2042, "id": "e5276aaf-b7c2-4836-a4d3-2d0c769d9a58"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white block array on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the green cubic block with the purple rod on the top of the rightmost white block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the green cubic block down along the purple rod, pressing it to fit onto the white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green cubic block, fingers opening to separate from the block."}, {"label": "home", "start_step": 2082, "end_step": 2105, "id": "iXlmYpEKRDHv3rwZTXU3q"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture by rotating fingers towards the center of the table. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the leftmost purple rod, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull: Right hand pulls the white hexagonal sleeve upwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the removed white hexagonal sleeve and moves slightly towards the lower right direction."}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black desktop and transports it to above the leftmost rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost rod of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost rod of the wooden base to the bottom position."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_press: Right hand places the white hexagonal block onto the aligned purple rod and presses it down to fit in position."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring placed on the purple post."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to the position above the top left peg of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green block onto the top left peg of the wooden base by fitting it over the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the green block fitted on the top left peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and prepare to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the test tube rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the top of the target test tube on the wooden rack."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand holds the white ring and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white ring with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the top of the white cylinder with green base on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green cubic block, adjusts finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white block array on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the green cubic block with the purple rod on the top of the rightmost white block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the green cubic block down along the purple rod, pressing it to fit onto the white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green cubic block, fingers opening to separate from the block."}], "episode_index": 39}
+{"source_uid": "b0bf5817dbfaf029", "num_frames": 2128, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves forward from the right side of the workspace toward the green hexagonal nut in front of the wooden peg rack, with fingers held open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "aaef0f98-cde0-43d1-bf26-8dc0dbcfa78d"}, {"label": "valid", "start_step": 0, "end_step": 2105, "id": "LMKG6WPfi0JHSroaM3HNZ"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making small adjustments to finger contact positions to form a grip, while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block completely leaves the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 238, "id": "33f82109-7ed4-49c0-8f7d-15174fa618ff"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the target purple post on the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, and moves the block downward to fit the hole onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block partially fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the white hexagonal nut to align and fully nest it onto the purple post of the wooden rack, making minor finger adjustments to secure the fit."}, {"label": "goal", "start_step": 239, "end_step": 322, "id": "b8c81b7e-60db-4b1a-a728-9f4c499e8329"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty from the wooden rack area toward the white hexagonal nut resting on the black table surface in front of the rack."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip, while the nut remains supported by the table surface."}, {"label": "goal", "start_step": 323, "end_step": 514, "id": "88ee7e28-1fd3-49f1-85dd-4359a775a74c"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand places the white cylindrical block onto the top of the corresponding purple peg on the wooden assembly stand until the block is stably supported by the peg."}, {"label": "goal", "start_step": 515, "end_step": 602, "id": "58b0a24b-a724-49f4-afdd-2edda3d10cff"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden assembly stand, approaching the nearest white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising the block off the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the wooden assembly rack, positioning the block above the target purple rod."}, {"label": "goal", "start_step": 603, "end_step": 724, "id": "ec1e165d-f8ff-467f-95d3-e3bc20ad8213"}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, sliding the block downward along the rod to fit onto the existing green block on the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg of the wooden assembly, breaking contact with the nut."}, {"label": "goal", "start_step": 725, "end_step": 836, "id": "9d5c1888-7beb-4462-a649-616430464ad5"}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and slightly right toward the green hexagonal block resting on the black table near the wooden assembly, remaining empty during movement."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it vertically upward until the block fully separates from the table surface."}, {"label": "goal", "start_step": 837, "end_step": 960, "id": "35b11ca8-d36c-47da-b102-4fc4275c49da"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden base, positioning the block directly above the target rod."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto a purple peg on the wooden base to seat the block stably, releases the block once the block is fully supported by the peg."}, {"label": "goal", "start_step": 961, "end_step": 1058, "id": "3996c5d8-ca50-4873-8625-035b6f36e002"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusts finger positions and closes fingers around the block to establish a stable grip."}, {"label": "goal", "start_step": 1059, "end_step": 1170, "id": "d3b4857b-9ae5-48bb-a40f-7f19c6a00322"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and moves the block downward to fit it onto the rod until it rests on the lower white component."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the top of the wooden block stand toward the front white hexagonal nut on the table, with fingers extended toward the target object."}, {"label": "goal", "start_step": 1171, "end_step": 1266, "id": "ddc3f706-8158-456d-bed0-72fd8177d95c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without observable movement."}, {"label": "goal", "start_step": 1267, "end_step": 1432, "id": "101ab097-4236-4f88-af73-4bc4f4f22c58"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to the held white hexagonal block to align its central hole with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves empty downward and rightward, retreating from the block assembly structure on the wooden base."}, {"label": "goal", "start_step": 1433, "end_step": 1516, "id": "c18b6d93-9c0c-46e8-bcba-1950b0b9db3b"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward to approach the white hexagonal nut placed on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward from the right side of the table to the position directly above the rightmost stacked block on the wooden base."}, {"label": "goal", "start_step": 1517, "end_step": 1616, "id": "e748a1a4-db91-485f-8969-c912ef21cdaf"}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes slight wrist and finger adjustments to align the white hexagonal block with the underlying stacked block, lowering the block to fit onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand grips the white cylindrical block, moves it vertically down along the purple rod until the block is stably supported by the wooden base below."}, {"label": "goal", "start_step": 1617, "end_step": 1728, "id": "b724558f-67cb-4e77-9040-0e5ae8cb1311"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the white cylindrical block resting on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty from the area above the wooden base downward to approach the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, adjusting finger placement to close and establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand firmly grasps the white hexagonal block and moves it upward and leftward through the air toward the wooden assembly base."}, {"label": "goal", "start_step": 1729, "end_step": 1820, "id": "ff8aadbc-c160-4c56-92f3-5ba022993929"}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the purple vertical rod on the wooden base, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white cylindrical bottle along the purple rod to rest on the wooden rack, fingers opening to release contact with the top of the bottle."}, {"label": "goal", "start_step": 1821, "end_step": 1962, "id": "679c86ef-d5bb-4c12-b122-e2932d5359e3"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small positional adjustments of fingers and wrist to establish a grip on the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly grips the small green block resting on the black table surface, and lifts the block vertically upward until it separates from the table."}, {"label": "goal", "start_step": 1963, "end_step": 2064, "id": "81b40f5e-92c2-4434-986e-a2eabfc448d9"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the suspended green block upward and rightward to the position directly above the purple-capped bottle on the wooden block rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the opening of the green block with the top of the purple-capped bottle, lowers the block to nest it onto the bottle top until the block is securely fitted on the bottle."}, {"label": "home", "start_step": 2106, "end_step": 2127, "id": "i4lfI_oPsB_KAa544rdjw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves forward from the right side of the workspace toward the green hexagonal nut in front of the wooden peg rack, with fingers held open."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making small adjustments to finger contact positions to form a grip, while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block completely leaves the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the target purple post on the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, and moves the block downward to fit the hole onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block partially fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the white hexagonal nut to align and fully nest it onto the purple post of the wooden rack, making minor finger adjustments to secure the fit."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty from the wooden rack area toward the white hexagonal nut resting on the black table surface in front of the rack."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip, while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand places the white cylindrical block onto the top of the corresponding purple peg on the wooden assembly stand until the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden assembly stand, approaching the nearest white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising the block off the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the wooden assembly rack, positioning the block above the target purple rod."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, sliding the block downward along the rod to fit onto the existing green block on the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg of the wooden assembly, breaking contact with the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and slightly right toward the green hexagonal block resting on the black table near the wooden assembly, remaining empty during movement."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden base, positioning the block directly above the target rod."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto a purple peg on the wooden base to seat the block stably, releases the block once the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusts finger positions and closes fingers around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and moves the block downward to fit it onto the rod until it rests on the lower white component."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the top of the wooden block stand toward the front white hexagonal nut on the table, with fingers extended toward the target object."}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without observable movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to the held white hexagonal block to align its central hole with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves empty downward and rightward, retreating from the block assembly structure on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward to approach the white hexagonal nut placed on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward from the right side of the table to the position directly above the rightmost stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes slight wrist and finger adjustments to align the white hexagonal block with the underlying stacked block, lowering the block to fit onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand grips the white cylindrical block, moves it vertically down along the purple rod until the block is stably supported by the wooden base below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the white cylindrical block resting on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty from the area above the wooden base downward to approach the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, adjusting finger placement to close and establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand firmly grasps the white hexagonal block and moves it upward and leftward through the air toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the purple vertical rod on the wooden base, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white cylindrical bottle along the purple rod to rest on the wooden rack, fingers opening to release contact with the top of the bottle."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small positional adjustments of fingers and wrist to establish a grip on the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly grips the small green block resting on the black table surface, and lifts the block vertically upward until it separates from the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the suspended green block upward and rightward to the position directly above the purple-capped bottle on the wooden block rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the opening of the green block with the top of the purple-capped bottle, lowers the block to nest it onto the bottle top until the block is securely fitted on the bottle."}], "episode_index": 40}
+{"source_uid": "f7efe5653e4e8a7e", "num_frames": 1964, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers slightly while staying at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "f9ea39b4-f237-4175-a661-35ad9cf2896c"}, {"label": "valid", "start_step": 0, "end_step": 1942, "id": "DJ_3SmM7raysWYAGgjGOi"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the front-left purple rod and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the purple rod and moves it downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns and presses the white hexagonal piece onto the green hexagonal block on the table to fit the two parts together."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green block on the table in front of the wooden peg board, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 133, "end_step": 244, "id": "ec14b843-f4c8-4792-9d06-45456a3152e2"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the green block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the green block upward and forward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green block with the middle purple peg by aligning the hole and fitting it down onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 245, "end_step": 324, "id": "2a657568-405d-436e-9df0-b4848b52e3ca"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 325, "end_step": 468, "id": "59c04642-c89c-4bfe-8fff-499f0186f425"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white hexagonal block onto the green base of the left front purple peg on the wooden rack and releases the block."}, {"label": "goal", "start_step": 469, "end_step": 556, "id": "fa79c41e-8839-463d-a1d0-e19e86cfab2e"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward from the wooden peg rack towards the front-left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the front-left white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring part from the table surface toward the wooden rack with purple rods."}, {"label": "goal", "start_step": 557, "end_step": 672, "id": "70da29d7-6576-4302-b39a-e202483eae77"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal ring part onto the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal ring part on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 673, "end_step": 770, "id": "82c61555-2aa3-4442-80e2-7ab6ef8212e2"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting slightly."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the white hollow hexagonal block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 771, "end_step": 850, "id": "ecbad3d7-afc3-4fc9-8039-108a7ec7b46e"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport_mate: Right hand transports the white block to the top of the right purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg and releases the grip."}, {"label": "goal", "start_step": 851, "end_step": 932, "id": "c349f32e-a7fb-42a9-8e81-7506075cf23e"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward and leftward to the top of the middle peg."}, {"label": "goal", "start_step": 933, "end_step": 1052, "id": "6ef0e185-5292-4d56-ad55-4b0294cb5d1a"}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and slides it down to complete the mating assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white ring onto the rightmost purple rod on the wooden base."}, {"label": "goal", "start_step": 1053, "end_step": 1154, "id": "a4645f2b-3308-4b22-b46d-e30f27e2be43"}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves down toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the black table and transports it upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "goal", "start_step": 1155, "end_step": 1296, "id": "f420918f-b7bf-4d0b-a6ee-1c5d43ede29a"}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost purple peg and inserts it downward onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal part on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the green post on the wooden base and releases the block."}, {"label": "goal", "start_step": 1297, "end_step": 1386, "id": "44e0a66d-c86f-4a73-a8e2-482b8cd381fe"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table with fingers closing around the block."}, {"label": "goal", "start_step": 1387, "end_step": 1512, "id": "fd3e14f5-a214-4c32-8e0f-b633d3c29d39"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod downward."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1513, "end_step": 1598, "id": "90219927-186d-46e9-959f-63f854d2f904"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "goal", "start_step": 1599, "end_step": 1704, "id": "f7ca1337-f696-44b2-93ac-41b45c370bea"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block leftward from the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, moving downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: release: Right hand releases the white cylinder with a purple rod on the wooden base, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1705, "end_step": 1782, "id": "f9e80f92-dc4a-4648-95a2-cc4bb530415f"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cube on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the right table surface without moving."}, {"label": "goal", "start_step": 1783, "end_step": 1896, "id": "67a5583d-7282-4a4a-94c7-b3c687a2b2e0"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green perforated block from the table and transports it leftward and upward to the top of the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green perforated block onto the rightmost white cylinder with a purple tip on the wooden rack by moving downward to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the rightmost white cylinder without moving."}, {"label": "home", "start_step": 1943, "end_step": 1963, "id": "6g2YaEu63Sx2AGm8Cb3eG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers slightly while staying at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the front-left purple rod and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the purple rod and moves it downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns and presses the white hexagonal piece onto the green hexagonal block on the table to fit the two parts together."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green block on the table in front of the wooden peg board, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the green block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the green block upward and forward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green block with the middle purple peg by aligning the hole and fitting it down onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white hexagonal block onto the green base of the left front purple peg on the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward from the wooden peg rack towards the front-left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the front-left white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring part from the table surface toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal ring part onto the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal ring part on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting slightly."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the white hollow hexagonal block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport_mate: Right hand transports the white block to the top of the right purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg and releases the grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward and leftward to the top of the middle peg."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and slides it down to complete the mating assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white ring onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves down toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the black table and transports it upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost purple peg and inserts it downward onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal part on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the green post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod downward."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block leftward from the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, moving downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: release: Right hand releases the white cylinder with a purple rod on the wooden base, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cube on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the right table surface without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green perforated block from the table and transports it leftward and upward to the top of the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green perforated block onto the rightmost white cylinder with a purple tip on the wooden rack by moving downward to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the rightmost white cylinder without moving."}], "episode_index": 41}
+{"source_uid": "6da37887156692bd", "num_frames": 1944, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block mounted on the front left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "d2dc35b2-2b94-4548-ba39-3bde9ff76303"}, {"label": "valid", "start_step": 0, "end_step": 1916, "id": "KJEOkagYRaM5xV-XKvse3"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left purple rod, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block upward to remove it from the purple rod."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 125, "end_step": 242, "id": "61485637-255e-4ea2-84b5-0dac4dfa79b9"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block off the purple post on the wooden base."}, {"label": "goal", "start_step": 243, "end_step": 338, "id": "2b18b911-a923-44af-b0c7-e34d090f208f"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_place: Right hand transports the white hollow block downward and places it on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hollow block from the table and transports it toward the wooden base with posts."}, {"label": "goal", "start_step": 339, "end_step": 430, "id": "df0fef96-8ee6-4c34-9127-84ae7e6dd290"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden assembly base."}, {"label": "goal", "start_step": 431, "end_step": 508, "id": "ef74e088-d2eb-448b-8a27-eaf0f4d6e128"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the black table surface."}, {"label": "goal", "start_step": 509, "end_step": 654, "id": "3a24d2a4-35f1-4f7f-af7e-8228591f902c"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring fitted on the purple peg of the wooden base."}, {"label": "goal", "start_step": 655, "end_step": 720, "id": "42eff1f4-9171-4e8d-a482-db80a24bffd1"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve upward to the top of the purple post on the wooden base."}, {"label": "goal", "start_step": 721, "end_step": 828, "id": "638e5fb6-c05d-4558-b6c6-01701f1707d7"}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve with the purple post by lowering it onto the post."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal sleeve down along the purple post and releases the sleeve."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 829, "end_step": 902, "id": "82679dd3-178b-4fd4-80e9-3de5e29e8c26"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block off the table surface."}, {"label": "goal", "start_step": 903, "end_step": 1006, "id": "e209d39d-a4b4-45c8-883a-da2d2acf41de"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1007, "end_step": 1090, "id": "df44bc6a-ee72-4f66-b9f0-5c68bd087614"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form stable contact."}, {"label": "goal", "start_step": 1091, "end_step": 1212, "id": "15a0c9ef-0fc0-4da7-9fdd-bfcb66b0e136"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1213, "end_step": 1292, "id": "23f791c4-2a14-4c49-8d86-e3a1cd005a37"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring placed on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1293, "end_step": 1382, "id": "93e54875-3483-4964-b152-ba63e9e55b62"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it down onto the rod until it is seated."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, fingers open and separate from the ring."}, {"label": "goal", "start_step": 1383, "end_step": 1568, "id": "2e9949ed-4dc4-462c-8bee-233d8b3c1f69"}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "goal", "start_step": 1569, "end_step": 1668, "id": "5209d3ac-2af4-43e7-bbbc-283f3b5e3964"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the wooden base and releases the grip on the cylinder."}, {"label": "goal", "start_step": 1669, "end_step": 1744, "id": "081f9d1f-6c36-4d5e-96f3-9c7b747f4924"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1745, "end_step": 1872, "id": "49007539-b35a-4e3f-a7fa-ccbf5be24252"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple post to fit stably."}, {"label": "home", "start_step": 1917, "end_step": 1943, "id": "QRYyaWWZArGHww0X9DXch"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block mounted on the front left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left purple rod, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block upward to remove it from the purple rod."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block off the purple post on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_place: Right hand transports the white hollow block downward and places it on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hollow block from the table and transports it toward the wooden base with posts."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring fitted on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve upward to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve with the purple post by lowering it onto the post."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal sleeve down along the purple post and releases the sleeve."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block off the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form stable contact."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring placed on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it down onto the rod until it is seated."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, fingers open and separate from the ring."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the wooden base and releases the grip on the cylinder."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple post to fit stably."}], "episode_index": 42}
+{"source_uid": "6b717d3de22c13eb", "num_frames": 1924, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg stand, with fingers kept open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "6cbb4e5b-b021-4301-8e9d-1adfdd033426"}, {"label": "valid", "start_step": 0, "end_step": 1897, "id": "tNsyhSe8RWACEfTBJxJs1"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 131, "end_step": 222, "id": "5ac21ccf-323e-4e0f-9448-4a0dcd91f4c0"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden board, opening fingers to release the seated block."}, {"label": "goal", "start_step": 223, "end_step": 356, "id": "8df7ae41-8c75-4b51-a309-54dbe0d40808"}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the white hexagonal block resting on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block resting on the table to establish a stable grip."}, {"label": "goal", "start_step": 357, "end_step": 476, "id": "3597c51c-9e64-4a98-b8c0-955df73adf13"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align and nest it onto the top of the purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block resting on the purple peg of the wooden assembly base."}, {"label": "goal", "start_step": 477, "end_step": 564, "id": "b5cff5d4-f692-42d3-8cb0-aff3eac35fd8"}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward through empty space toward the loose white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips a white hexagonal nut and moves it upward toward the purple peg on the wooden assembly base, positioning the nut above the target peg."}, {"label": "goal", "start_step": 565, "end_step": 668, "id": "a9a9b847-24cb-4e62-aa60-f909dff48a57"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg and lowers the nut to fit over the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: press: Right hand presses the white hexagonal block downward on the left purple peg to seat it firmly in place on the wooden base."}, {"label": "goal", "start_step": 669, "end_step": 754, "id": "b5736c10-d63d-465d-a437-521d1911d635"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned near the front edge of the wooden base on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 755, "end_step": 870, "id": "6af411cf-9fcd-4167-a9e3-7b3c832173a3"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "goal", "start_step": 871, "end_step": 946, "id": "f50fb14b-f022-4d69-a573-93c0220557f7"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left green hexagonal block on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 947, "end_step": 1056, "id": "4833605d-c0ee-40ec-a968-02f00dba5018"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod on the wooden peg base until the block is stably supported by the base."}, {"label": "goal", "start_step": 1057, "end_step": 1144, "id": "f54686e6-0838-4e94-b68e-31ac63ad48b3"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward to the position above the purple peg on the wooden assembly board."}, {"label": "goal", "start_step": 1145, "end_step": 1252, "id": "d719d284-a170-476d-a76d-c89c4417cc5f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden board, lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the green peg of the wooden block stand, and opens fingers to release the seated block."}, {"label": "goal", "start_step": 1253, "end_step": 1336, "id": "b5e902bd-eb8f-428d-b378-95ea9e7cb3b7"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stand toward the white hexagonal block resting on the black table surface to the right of the stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "goal", "start_step": 1337, "end_step": 1452, "id": "f19116b8-342b-4c00-9a72-465020b454bf"}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward to position it above the empty slot on the wooden block base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block steady above the empty slot on the wooden block base, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal block downward to set it into the empty slot on the wooden block base, where the block is supported by the base at the end of the segment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves downward to place the white hexagonal block onto the purple rod on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1453, "end_step": 1522, "id": "e637d7b2-52ab-4d65-9bbd-0564236c81de"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, without contacting the target block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the wooden peg board."}, {"label": "goal", "start_step": 1523, "end_step": 1614, "id": "49967c15-5473-49de-902b-b20894de1028"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand gradually opens fingers to release the white cylindrical bottle with purple top seated in the wooden holder, lifting fingers away from the bottle cap until fully separated from the bottle."}, {"label": "goal", "start_step": 1615, "end_step": 1694, "id": "493067af-970b-4b5f-bb20-e9fed7d02a5e"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the dark table surface to establish a grip on the block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand firmly grips the green square block resting on the dark table surface and lifts it upward until the block is completely separated from the table."}, {"label": "goal", "start_step": 1695, "end_step": 1850, "id": "9d104ab1-3c93-44cb-855c-1dd4ea6430fb"}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the gripped green square block upward and leftward, moving the block to the position directly above the white bottle with a purple cap on the wooden block base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the gripped green square block to align its central hole with the purple-topped post on the white bottle, fitting the block onto the post."}, {"label": "home", "start_step": 1898, "end_step": 1923, "id": "ItbBkIuhBJsZRnRv96twS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg stand, with fingers kept open during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden board, opening fingers to release the seated block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the white hexagonal block resting on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block resting on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align and nest it onto the top of the purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block resting on the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward through empty space toward the loose white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips a white hexagonal nut and moves it upward toward the purple peg on the wooden assembly base, positioning the nut above the target peg."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg and lowers the nut to fit over the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: press: Right hand presses the white hexagonal block downward on the left purple peg to seat it firmly in place on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned near the front edge of the wooden base on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left green hexagonal block on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod on the wooden peg base until the block is stably supported by the base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward to the position above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden board, lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the green peg of the wooden block stand, and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stand toward the white hexagonal block resting on the black table surface to the right of the stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward to position it above the empty slot on the wooden block base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block steady above the empty slot on the wooden block base, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal block downward to set it into the empty slot on the wooden block base, where the block is supported by the base at the end of the segment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves downward to place the white hexagonal block onto the purple rod on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, without contacting the target block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand gradually opens fingers to release the white cylindrical bottle with purple top seated in the wooden holder, lifting fingers away from the bottle cap until fully separated from the bottle."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the dark table surface to establish a grip on the block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand firmly grips the green square block resting on the dark table surface and lifts it upward until the block is completely separated from the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the gripped green square block upward and leftward, moving the block to the position directly above the white bottle with a purple cap on the wooden block base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the gripped green square block to align its central hole with the purple-topped post on the white bottle, fitting the block onto the post."}], "episode_index": 43}
+{"source_uid": "95a24a7d586988c3", "num_frames": 1907, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the right side of the black tabletop towards the green hexagonal block at the lower left of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6cd990fa-b5e0-4d22-9442-18540b6c1704"}, {"label": "valid", "start_step": 0, "end_step": 1878, "id": "V5keRnY6ZXNvFcpVWZhMe"}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the black table surface and transports it upward and rightward to the position above the pegs on the wooden board."}, {"label": "goal", "start_step": 121, "end_step": 246, "id": "0dd7080b-25a6-4dfa-9d91-bac22ede6c4a"}, {"label": "subtasks", "start_step": 142, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal ring with the top of the leftmost peg and slides it down along the peg to fit into the assembled position."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg of the wooden base and then releases the block."}, {"label": "goal", "start_step": 247, "end_step": 320, "id": "e9556483-cc84-4331-8256-c3a6acbd992a"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 321, "end_step": 420, "id": "06d468b4-4344-4d7a-8a64-0e641e60fd3b"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the front-left purple post on the rack."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the front-left purple post of the rack, moving downward to insert the part onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases grip."}, {"label": "goal", "start_step": 421, "end_step": 504, "id": "787f040e-1bd3-4703-87ce-eb3e5092cde0"}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hex ring on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "goal", "start_step": 505, "end_step": 624, "id": "89fac06d-0dad-4142-8fe0-8bef478576ef"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table toward the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white annular piece onto the purple peg and releases the piece."}, {"label": "goal", "start_step": 625, "end_step": 716, "id": "dcdbd0f7-2830-4956-a8e9-149e8f012aa7"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 717, "end_step": 786, "id": "24b2e52c-6efa-41f9-bf6f-75c5d9a152a6"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand places the white ring onto the bottom of the purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 787, "end_step": 854, "id": "48f1fa77-8c20-4123-a6d4-d7ada9a972d7"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 855, "end_step": 950, "id": "638c8771-f8fa-49c5-9a47-f009f7046804"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the green block on the wooden pegboard, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 951, "end_step": 1042, "id": "7240a516-304b-40d6-82b6-672cf641d812"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the pegboard area."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1043, "end_step": 1162, "id": "83081704-b611-4ff9-8921-8cc02fad7e25"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the workbench while moving it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod on the wooden rack by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "goal", "start_step": 1163, "end_step": 1232, "id": "7e214680-a33b-4f9d-96d1-89e210f1c672"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downwards."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1233, "end_step": 1336, "id": "b0ad18f9-db52-4768-9b79-f19add512029"}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod, places it on the wooden board at the base of the rod, then releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: retreat: Right hand retreats from the purple rod area toward the right side of the table, empty."}, {"label": "goal", "start_step": 1337, "end_step": 1412, "id": "f2690bd0-0d4f-4e6a-947a-00577373c671"}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "goal", "start_step": 1413, "end_step": 1544, "id": "558aa0dd-e2e4-415c-a1ef-f2d38f81a6d8"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table surface and moves it upward and leftward to the top of the rightmost purple rod on the peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple rod and lowers it to fit the ring onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the area near the bottle set toward the green block on the lower right of the table, approaching the block without contact."}, {"label": "goal", "start_step": 1545, "end_step": 1658, "id": "4c2a17dc-5256-41d1-8928-c14cd2446863"}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp_lift: Right hand contacts and grasps the green block on the table with finger adjustments, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1659, "end_step": 1810, "id": "e729a06b-87bb-4cec-8094-b18782894bd8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the rightmost white post with a purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white post by aligning the hole and inserting the post into the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green block on the rightmost white post without moving."}, {"label": "home", "start_step": 1879, "end_step": 1906, "id": "f-1nravKwvkY5SCbcRaWH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the right side of the black tabletop towards the green hexagonal block at the lower left of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the black table surface and transports it upward and rightward to the position above the pegs on the wooden board."}, {"label": "subtasks", "start_step": 142, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal ring with the top of the leftmost peg and slides it down along the peg to fit into the assembled position."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the front-left purple post on the rack."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the front-left purple post of the rack, moving downward to insert the part onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases grip."}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hex ring on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table toward the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white annular piece onto the purple peg and releases the piece."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand places the white ring onto the bottom of the purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the green block on the wooden pegboard, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the pegboard area."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the workbench while moving it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod on the wooden rack by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downwards."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod, places it on the wooden board at the base of the rod, then releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: retreat: Right hand retreats from the purple rod area toward the right side of the table, empty."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table surface and moves it upward and leftward to the top of the rightmost purple rod on the peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple rod and lowers it to fit the ring onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the area near the bottle set toward the green block on the lower right of the table, approaching the block without contact."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp_lift: Right hand contacts and grasps the green block on the table with finger adjustments, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the rightmost white post with a purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white post by aligning the hole and inserting the post into the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green block on the rightmost white post without moving."}], "episode_index": 44}
+{"source_uid": "125a603ea9aa20a2", "num_frames": 2887, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden tray on the table."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "320159a0-1617-4f16-954f-4b6bf8af1fa7"}, {"label": "valid", "start_step": 0, "end_step": 2860, "id": "RtEGV6dF7F6IbrtDQEzTq"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes its fingers to adjust and form a stable grasp on the green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand holds the green block and moves it above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 141, "end_step": 262, "id": "bd4d49ef-3836-4ed9-ba67-101c125f1b73"}, {"label": "subtasks", "start_step": 180, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the green block down onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 263, "end_step": 540, "id": "1e0a5f7b-e370-49ac-a93c-e822a3e85f6b"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to establish and stabilize the grasp on the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black tabletop."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 541, "end_step": 680, "id": "9c24896f-d6b6-428f-a92e-4797dd2db78b"}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit into place."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 681, "end_step": 788, "id": "a36010af-ce9d-463a-8d0b-db5d0705eada"}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface, making the block fully leave the support surface."}, {"label": "goal", "start_step": 789, "end_step": 1006, "id": "b2d3eb21-6740-455e-81b8-202c056d9350"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod, inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated on the green base of the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 1007, "end_step": 1106, "id": "5d19ba66-187c-4271-8d0e-e91a5d81a191"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white block on the table."}, {"label": "goal", "start_step": 1107, "end_step": 1302, "id": "cd3a275e-e5ee-49f0-ac11-8346903e0ccf"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1303, "end_step": 1380, "id": "e3001a1f-3172-48ab-8e95-71cb5a2092a3"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green cubic block off the table surface."}, {"label": "goal", "start_step": 1381, "end_step": 1720, "id": "cc4f325d-1147-4b29-b515-e3b1ce1c9667"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it above the rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the green block with the rod on the wooden base and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the green block down along the rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1721, "end_step": 1856, "id": "0b3cfa6b-1207-4be6-a174-0a181f9d93bb"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1857, "end_step": 1992, "id": "e99c51ce-abd2-4e29-a0af-a88e75a9c96e"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the grasped white ring towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1993, "end_step": 2064, "id": "36fac9d4-e0bd-4306-ba40-939c4b7c95f6"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2065, "end_step": 2186, "id": "dccb8867-2313-4fdb-b9ed-46f53b23429b"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the purple rod into the hole of the white block on the wooden base."}, {"label": "goal", "start_step": 2187, "end_step": 2272, "id": "31eabcad-9dac-4c49-85de-2199bbfdb8ba"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2242, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 2273, "end_step": 2462, "id": "c9231b70-639a-498a-8db7-41de49045178"}, {"label": "subtasks", "start_step": 2362, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the white hexagonal ring by opening fingers, separating from the ring."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: retreat: Right hand retreats upward slightly after releasing the white hexagonal ring."}, {"label": "goal", "start_step": 2463, "end_step": 2654, "id": "6db3f64e-6f34-4217-89ed-e0444ebe02e6"}, {"label": "subtasks", "start_step": 2475, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 2655, "end_step": 2800, "id": "8b53e0f1-f9ff-4ae7-b7dd-eb06298b9871"}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the green block towards the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2781, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the green block onto the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2782, "end_step": 2804, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the grip on the green block."}, {"label": "home", "start_step": 2861, "end_step": 2886, "id": "sF9RlUwZJydCha_z4Ve6z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden tray on the table."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes its fingers to adjust and form a stable grasp on the green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand holds the green block and moves it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the green block down onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to establish and stabilize the grasp on the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black tabletop."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit into place."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface, making the block fully leave the support surface."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod, inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated on the green base of the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green cubic block off the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it above the rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the green block with the rod on the wooden base and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the green block down along the rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the grasped white ring towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the purple rod into the hole of the white block on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2242, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the white hexagonal ring by opening fingers, separating from the ring."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: retreat: Right hand retreats upward slightly after releasing the white hexagonal ring."}, {"label": "subtasks", "start_step": 2475, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the green block towards the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2781, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the green block onto the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2782, "end_step": 2804, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the grip on the green block."}], "episode_index": 45}
+{"source_uid": "a95ab59168839742", "num_frames": 2757, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "462e1dae-8218-4f36-bae2-baf98b248064"}, {"label": "valid", "start_step": 0, "end_step": 2732, "id": "rY-8qhakOkXVOTB08J9fW"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 121, "end_step": 364, "id": "9809c64d-c684-4bb1-97d8-1abfc67c0e21"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block upward off the table surface and moves it to a position above the purple pegs on the wooden peg board."}, {"label": "subtasks", "start_step": 150, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden peg board, makes small positional adjustments, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the top of a purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 365, "end_step": 706, "id": "2e98b26f-5cc7-4b1c-918b-bf9e6f9f8755"}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward from the wooden base toward the tilted white hexagonal block resting on the table near the base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the tilted white hexagonal block on the table to form an initial grasp."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the white hexagonal block downward to rest it on the table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 651, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to secure a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach_grasp: Right hand approaches and closes fingers to grasp the white hexagonal block adjacent to the wooden peg base on the table."}, {"label": "goal", "start_step": 707, "end_step": 966, "id": "1fda9bf6-75be-4a8d-84c0-3f320efce873"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand lifts the grasped white block, moves it to the rearmost purple peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty fingers to approach the front white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions to establish and stabilize a firm grasp around the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white block completely off the table surface and moves it upward to position directly above the front-left purple peg on the base."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white block with the target purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases the block with fingers opening."}, {"label": "goal", "start_step": 967, "end_step": 1062, "id": "5aad6d80-8e19-4719-b49a-0f8d5fc2c3b1"}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the green hexagonal block on the black table, with fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block, lifting it vertically upward to raise it completely off the black table surface."}, {"label": "goal", "start_step": 1063, "end_step": 1170, "id": "02310e52-6752-45f0-b8b8-753a4c19f0a8"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and forward toward the wooden assembly rack to position it above the target purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, moving the block downward with minor positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward away from the top of the stacked blocks on the wooden peg rack, approaching the loose white hexagonal block on the adjacent black table surface."}, {"label": "goal", "start_step": 1171, "end_step": 1278, "id": "7d0e0fd1-54be-4231-8e19-860989743da1"}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the loose white hexagonal block next to the rack, making contact to form a grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the purple post on the wooden base."}, {"label": "goal", "start_step": 1279, "end_step": 1434, "id": "0ac6270f-a4f0-4f9e-a7b8-44bef3d3250a"}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align with the purple post, moving it downward to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it onto the purple rod on the wooden base, and opens fingers to release the supported nut."}, {"label": "goal", "start_step": 1435, "end_step": 1512, "id": "4d226d27-e411-4d78-9cb6-d4ed9563ef93"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1513, "end_step": 1646, "id": "48158d6e-981d-476c-ace5-0712096debf7"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position above the empty vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block to align its central hole with the empty vertical rod, and fits the block onto the top of the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green hexagonal block along the vertical rod until the block rests stably on the lower blocks of the assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the stably placed green hexagonal block on the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the block."}, {"label": "goal", "start_step": 1647, "end_step": 1712, "id": "0e498b4c-bb98-4337-ae38-c244efd36ea4"}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut adjacent to the green block on the right area of the table without moving."}, {"label": "goal", "start_step": 1713, "end_step": 1842, "id": "8968f343-7e23-4ced-993b-37940d13511d"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden assembly base and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated on the green base on the wooden tray, separating from the block surface."}, {"label": "goal", "start_step": 1843, "end_step": 1912, "id": "84cb89e8-ab4a-4c64-8b34-f1706fc6ca68"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downwards and rightwards across the table surface, approaching the loose white hexagonal nut without making contact."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table surface, making small positional adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut fully separates from the table surface."}, {"label": "goal", "start_step": 1913, "end_step": 2002, "id": "5d00c725-c110-4f3a-b28b-6ea31fa35f33"}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady directly above the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the held white hexagonal nut downward to place it onto the purple rod, where the nut is supported by the rod."}, {"label": "goal", "start_step": 2003, "end_step": 2144, "id": "47ff15a7-3d4a-4ffb-a68b-8286b8dab9cc"}, {"label": "subtasks", "start_step": 2010, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white hexagonal piece seated on the purple rod of the wooden block assembly, with fingers opening to separate fully from the piece."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece with a central hole resting on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal piece on the table, making small adjustments to finger positions to establish stable contact with the piece."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "goal", "start_step": 2145, "end_step": 2236, "id": "36259d67-6d8a-4c4b-a893-b7fffd2b18da"}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple vertical rod below."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary directly above the purple vertical rod without movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to set it on the supporting block below, opens fingers to release the block so it stays stably fitted on the rod."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: press: Right hand presses the purple-topped white cylinder on the wooden block set with fingertips applying downward force."}, {"label": "goal", "start_step": 2237, "end_step": 2314, "id": "ff5656de-e5db-4371-8bc7-a5113ff6d36b"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green cube on the table and lifts the cube upward off the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the held green cubic block upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 2315, "end_step": 2652, "id": "9df40c79-b1b1-4ff7-a8f9-2d6ba96f9a62"}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the green cubic block leftward to the position directly above the rightmost purple-topped cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2601, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green cubic block to align its central hole with the top of the purple-topped cylinder below."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green cubic block downward until it fits securely onto the purple-topped cylinder and is stably supported."}, {"label": "home", "start_step": 2733, "end_step": 2756, "id": "MmSbcYMJ5Jx7CYw8zs2El"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block upward off the table surface and moves it to a position above the purple pegs on the wooden peg board."}, {"label": "subtasks", "start_step": 150, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden peg board, makes small positional adjustments, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the top of a purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward from the wooden base toward the tilted white hexagonal block resting on the table near the base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the tilted white hexagonal block on the table to form an initial grasp."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the white hexagonal block downward to rest it on the table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 651, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to secure a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach_grasp: Right hand approaches and closes fingers to grasp the white hexagonal block adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand lifts the grasped white block, moves it to the rearmost purple peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty fingers to approach the front white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions to establish and stabilize a firm grasp around the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white block completely off the table surface and moves it upward to position directly above the front-left purple peg on the base."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white block with the target purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the green hexagonal block on the black table, with fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block, lifting it vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and forward toward the wooden assembly rack to position it above the target purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, moving the block downward with minor positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward away from the top of the stacked blocks on the wooden peg rack, approaching the loose white hexagonal block on the adjacent black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the loose white hexagonal block next to the rack, making contact to form a grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align with the purple post, moving it downward to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it onto the purple rod on the wooden base, and opens fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position above the empty vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block to align its central hole with the empty vertical rod, and fits the block onto the top of the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green hexagonal block along the vertical rod until the block rests stably on the lower blocks of the assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the stably placed green hexagonal block on the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut adjacent to the green block on the right area of the table without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden assembly base and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated on the green base on the wooden tray, separating from the block surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downwards and rightwards across the table surface, approaching the loose white hexagonal nut without making contact."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table surface, making small positional adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut fully separates from the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady directly above the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the held white hexagonal nut downward to place it onto the purple rod, where the nut is supported by the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white hexagonal piece seated on the purple rod of the wooden block assembly, with fingers opening to separate fully from the piece."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece with a central hole resting on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal piece on the table, making small adjustments to finger positions to establish stable contact with the piece."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple vertical rod below."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary directly above the purple vertical rod without movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to set it on the supporting block below, opens fingers to release the block so it stays stably fitted on the rod."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: press: Right hand presses the purple-topped white cylinder on the wooden block set with fingertips applying downward force."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green cube on the table and lifts the cube upward off the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the held green cubic block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the green cubic block leftward to the position directly above the rightmost purple-topped cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2601, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green cubic block to align its central hole with the top of the purple-topped cylinder below."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green cubic block downward until it fits securely onto the purple-topped cylinder and is stably supported."}], "episode_index": 46}
+{"source_uid": "a1f05d84498c321f", "num_frames": 2341, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture slightly at the left side of the table, with fingers and wrist making small rotational movements. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "e2e337bb-ad85-4b70-8af5-45190a000c75"}, {"label": "valid", "start_step": 0, "end_step": 2316, "id": "e8bzqnVIJXVYT0wlGvj4k"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the wooden base and transports it to the position right above the leftmost purple peg."}, {"label": "goal", "start_step": 151, "end_step": 270, "id": "3c2c6d15-21ca-4add-95a8-92da2b0d7eca"}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_press: Right hand fits the green block onto the leftmost purple peg and presses it downward along the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 271, "end_step": 352, "id": "07fabcb5-7a08-4d79-9336-31414f4776c7"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface as fingers close around it."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal part up from the green base on the black table."}, {"label": "goal", "start_step": 353, "end_step": 466, "id": "5c404a85-e04d-4e9f-8caa-5e1de0179fcd"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal part to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the leftmost purple peg and inserts the part onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place: Right hand slides the white hexagonal part down along the purple peg until it is supported by the white part below."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 467, "end_step": 568, "id": "ab8e4915-f0f1-4be3-b56c-ec686c81a0d7"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block onto the black table surface, with fingers opening gradually."}, {"label": "goal", "start_step": 569, "end_step": 808, "id": "3a0c7fbf-29f0-4b1f-9c69-987934d25451"}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves empty toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod on the wooden rack, aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 809, "end_step": 872, "id": "57bd4ff7-830f-4491-9d75-00ab0976dd86"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it upward and leftward to above the rightmost purple peg on the wooden base."}, {"label": "goal", "start_step": 873, "end_step": 1140, "id": "0b8fa6b7-c987-40b6-a52e-8c84a4f42729"}, {"label": "subtasks", "start_step": 892, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the rightmost purple peg and lowers it onto the peg to assemble the two parts."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal piece slightly upward along the rightmost purple peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand lowers the white hexagonal piece back down along the rightmost purple peg to adjust the assembly position."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple vertical peg on the wooden base, and releases the piece after the assembly is completed."}, {"label": "goal", "start_step": 1141, "end_step": 1252, "id": "63fbf61d-ceae-4709-ac07-c538cb360216"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to above the rightmost purple rod on the wooden base."}, {"label": "goal", "start_step": 1253, "end_step": 1378, "id": "d39f66c5-8996-41a1-be7f-861116cbda8b"}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand moves the green block downward to fit it onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green block on the rightmost purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 1379, "end_step": 1462, "id": "772c3419-326a-4341-b16e-d1778f416bf5"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1463, "end_step": 1620, "id": "b2dba552-91cc-49d5-a9ea-21d4cf8caac4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block on the top of the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1621, "end_step": 1718, "id": "17727fb6-b4f4-440c-a622-55e815724e2c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1719, "end_step": 1806, "id": "52353ec2-69e9-47b7-a43e-b55d96584b51"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block upward off the table surface and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning its hole and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 1807, "end_step": 1892, "id": "5e0f973a-f0df-46b7-841d-6eeccbcb1ad7"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal ring upward away from the table surface."}, {"label": "goal", "start_step": 1893, "end_step": 2032, "id": "cef9c60b-ecf1-4db9-b4f6-e3920a2c1f79"}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal ring object from the right side of the table toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal ring object with the purple rod by aligning and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty beside the purple rod on the wooden board without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white perforated block onto the purple vertical peg and releases it."}, {"label": "goal", "start_step": 2033, "end_step": 2112, "id": "1797c60b-c933-4fe1-9458-3b99960a0c68"}, {"label": "subtasks", "start_step": 2048, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green perforated block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green perforated block on the table with fingers closing around its side."}, {"label": "goal", "start_step": 2113, "end_step": 2262, "id": "952cc50f-c4ab-4c1f-bf27-ed06b142c3af"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it to above the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the green hollow block with the rightmost purple rod on the wooden rack, aligning and lowering the block until it rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hollow block fitted on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the green hollow block, with fingers opening to loosen the grip on the block."}, {"label": "home", "start_step": 2317, "end_step": 2340, "id": "Wv5gh0PbWdEGrriRmNp1Y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture slightly at the left side of the table, with fingers and wrist making small rotational movements. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the wooden base and transports it to the position right above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_press: Right hand fits the green block onto the leftmost purple peg and presses it downward along the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface as fingers close around it."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal part up from the green base on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal part to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the leftmost purple peg and inserts the part onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place: Right hand slides the white hexagonal part down along the purple peg until it is supported by the white part below."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block onto the black table surface, with fingers opening gradually."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves empty toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod on the wooden rack, aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it upward and leftward to above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the rightmost purple peg and lowers it onto the peg to assemble the two parts."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal piece slightly upward along the rightmost purple peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand lowers the white hexagonal piece back down along the rightmost purple peg to adjust the assembly position."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple vertical peg on the wooden base, and releases the piece after the assembly is completed."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand moves the green block downward to fit it onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green block on the rightmost purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block on the top of the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block upward off the table surface and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning its hole and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal ring upward away from the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal ring object from the right side of the table toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal ring object with the purple rod by aligning and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty beside the purple rod on the wooden board without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white perforated block onto the purple vertical peg and releases it."}, {"label": "subtasks", "start_step": 2048, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green perforated block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green perforated block on the table with fingers closing around its side."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it to above the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the green hollow block with the rightmost purple rod on the wooden rack, aligning and lowering the block until it rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hollow block fitted on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the green hollow block, with fingers opening to loosen the grip on the block."}], "episode_index": 47}
+{"source_uid": "0a2c1e5a4e8338c6", "num_frames": 2318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "10272ccb-5c68-4f88-85a6-51db7830b701"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "Y8cdIa78Ll_0DDU3r_j8i"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal component upward from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 125, "end_step": 340, "id": "cd4fca2f-ac92-408f-9406-64178ff0beeb"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block after positioning."}, {"label": "goal", "start_step": 341, "end_step": 444, "id": "a0b4d54e-a843-44f2-bdc7-049a2427afed"}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 445, "end_step": 580, "id": "836ed766-03cb-419d-ae40-fdbd7150e203"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 581, "end_step": 676, "id": "51ff0434-98f5-497c-9bd0-1dd55717f25c"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the white ring blocks on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the white ring block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple rod on the wooden base."}, {"label": "goal", "start_step": 677, "end_step": 824, "id": "43115482-983d-496d-863a-978ac6f7b5c2"}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod, adjusting its position to fit onto the rod completely."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 825, "end_step": 922, "id": "3454fdf1-e611-4d51-8cd0-0946d1fa2429"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 923, "end_step": 1018, "id": "8b332f0b-b0f1-4338-a770-783bfa836a15"}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1019, "end_step": 1096, "id": "c3d50590-9b43-44e5-ac26-e3a3e26b7ce6"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block by closing fingers around it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upwards away from the table surface."}, {"label": "goal", "start_step": 1097, "end_step": 1240, "id": "b49c7df4-896c-4240-b642-1639c0670bb8"}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1241, "end_step": 1342, "id": "dcf52f93-e6ae-4bc9-81e7-6b5364c9d611"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table, adjusting the grip to become stable."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1343, "end_step": 1448, "id": "a5d9b110-25b2-4328-b110-05a96c67d3ea"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg to fit it properly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1449, "end_step": 1548, "id": "beb41561-1861-406a-a3bf-aea679d9dfb8"}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: other:lift_up: Left hand lifts upward empty from the table surface. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1549, "end_step": 1684, "id": "33832393-d93c-4704-8eed-9cfdaab3d70d"}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: place_release: Right hand places the white hexagonal block onto the wooden base and releases its grip."}, {"label": "goal", "start_step": 1685, "end_step": 1850, "id": "52685135-29e2-4d7c-b427-c480ac56feee"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand holds the white hollow block and moves it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1851, "end_step": 1956, "id": "fa9bc312-368f-4b28-b87d-9f9b0054526e"}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the white hollow block from its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: press_release: Right hand presses the white cylindrical block with purple top into the hole on the wooden base and then releases the block."}, {"label": "goal", "start_step": 1957, "end_step": 2044, "id": "b30821c6-5c3a-4bb2-b30a-2e26175b0ffa"}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "goal", "start_step": 2045, "end_step": 2240, "id": "b9a52529-c862-40d2-a1e7-1d3ca38952a1"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2227, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the green block from its grip."}, {"label": "home", "start_step": 2290, "end_step": 2317, "id": "m2R9H0OCgAMGuGStEoiOp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal component upward from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block after positioning."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the white ring blocks on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the white ring block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod, adjusting its position to fit onto the rod completely."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block by closing fingers around it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table, adjusting the grip to become stable."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg to fit it properly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: other:lift_up: Left hand lifts upward empty from the table surface. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: place_release: Right hand places the white hexagonal block onto the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand holds the white hollow block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the white hollow block from its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: press_release: Right hand presses the white cylindrical block with purple top into the hole on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2227, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the green block from its grip."}], "episode_index": 48}
+{"source_uid": "4baaa9820454d21a", "num_frames": 2526, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial raised position on the upper left to the left front home position, making slight adjustments to wrist angle and finger posture during movement until it stops stably. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "goal", "start_step": 0, "end_step": 158, "id": "dd20596a-1112-4a4e-a5c5-2819c0fb29ad"}, {"label": "valid", "start_step": 0, "end_step": 2499, "id": "qg4dgipy94PelJjK0VXbV"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the front purple rod on the wooden base, making small adjustments to finger contact positions to establish a stable grip, while the rod remains supported by the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the front purple rod on the wooden base without moving, maintaining a stable grip with no observable changes in hand position, wrist posture or finger shape."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand makes slight adjustments to its grip on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 159, "end_step": 288, "id": "828a7b9b-f988-4276-8552-8cafb777d3f4"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block by opening fingers, separating from the block."}, {"label": "goal", "start_step": 289, "end_step": 388, "id": "3b85a5d7-18e3-4cc7-91d9-e4de3eef0c01"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 389, "end_step": 524, "id": "b596293d-f0db-49e5-ab1d-51a10ae58781"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post on the wooden assembly block, making small positional adjustments to nest the nut onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white cylindrical block, aligns and fits it onto the corresponding purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 525, "end_step": 608, "id": "71bf2dd2-d625-47cc-8c17-9282491b8bfa"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 609, "end_step": 754, "id": "f693e4c5-23d8-4c1a-8986-7b717659d3cb"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden peg rack, moving it above a purple peg on the rack."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, lowers the nut to fit it onto the peg, and makes slight finger adjustments to stabilize the part."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: press: Right hand presses the topmost white hexagonal block on the wooden assembly rack downward to seat it fully on the purple support rod."}, {"label": "goal", "start_step": 755, "end_step": 866, "id": "66463201-e05e-47c0-9422-7de1a037ddce"}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table next to the wooden rack, with fingers held slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp_transport: Right hand adjusts its finger grip on the white hexagonal nut and transports the nut upward to a position directly above the purple peg on the wooden peg base."}, {"label": "goal", "start_step": 867, "end_step": 934, "id": "2d15c714-3a28-42b9-b827-185cf988b86f"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, lowers the nut to fit onto the peg, and makes small positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple peg of the wooden base, opens fingers to release contact with the block."}, {"label": "goal", "start_step": 935, "end_step": 1024, "id": "8df82472-0c25-4b16-86fb-04f818c13142"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor finger adjustments to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface while moving the block upward and toward the empty purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1025, "end_step": 1152, "id": "ba8d0db3-f838-4e7c-83a8-97442a68fac8"}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the position and orientation of the held green hexagonal block to align its central hole with the empty purple rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the green block placed on the purple rod of the assembly stand."}, {"label": "goal", "start_step": 1153, "end_step": 1250, "id": "10a72192-e772-4b5d-8fb3-786bdb613e5a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the wooden peg assembly on the table."}, {"label": "goal", "start_step": 1251, "end_step": 1376, "id": "7928cbd3-166c-44af-b84a-87f6b6c72f58"}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg on the wooden base, positioning the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the matching peg on the wooden assembly base, sets the block down to rest stably on the base, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 1377, "end_step": 1454, "id": "c72f47ac-4fa8-4472-928e-49d7bbffa226"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and to the right, approaching the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight adjustments to establish a firm hold on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "goal", "start_step": 1455, "end_step": 2050, "id": "709f209f-d277-489c-9a35-027fd1a90831"}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block and slightly adjusts its position and orientation to align with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, letting it fall onto the right area of the black table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty toward the fallen white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the right table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1672, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reorient: Right hand holds the grasped white hexagonal block and rotates it about a quarter turn to adjust its orientation with minimal position change."}, {"label": "subtasks", "start_step": 1808, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport_place: Right hand holds the white hexagonal block, moves it left to the table area near the wooden rack, and lowers it until it is supported by the table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand maintains contact with the white hexagonal block on the table, slightly adjusting finger positions and wrist angle to stabilize the grasp."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the table surface and moves it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod and lowers it to fit onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, opens fingers to release the block."}, {"label": "goal", "start_step": 2051, "end_step": 2138, "id": "163863c4-58c5-4268-86a5-e56006fe4b10"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut on the black table and lifts it upward until the nut is completely off the table surface."}, {"label": "goal", "start_step": 2139, "end_step": 2240, "id": "240decde-60ad-4b11-b7fc-7d9e8e7872d0"}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down along the rod to rest stably on the white base of the rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated in the wooden rack, separating from the block."}, {"label": "goal", "start_step": 2241, "end_step": 2312, "id": "d0b05ced-55c5-4e8b-8451-6f0322a8e2cb"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and rightward across the table toward the green square block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand steadily holds the green hollow square block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2313, "end_step": 2448, "id": "be7c02ed-2f14-495a-9d81-5f48a25c7f93"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hollow square block completely off the black table surface and transports the block upward and rightward to the position directly above the white cylinder with a purple top on the wooden block base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place: Right hand moves the green hollow square block downward to align its hollow center with the purple top of the white cylinder, lowering the block until it rests stably on the cylinder."}, {"label": "home", "start_step": 2500, "end_step": 2525, "id": "BqQJuacuW_ZW4GkjEVoDk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial raised position on the upper left to the left front home position, making slight adjustments to wrist angle and finger posture during movement until it stops stably. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the front purple rod on the wooden base, making small adjustments to finger contact positions to establish a stable grip, while the rod remains supported by the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the front purple rod on the wooden base without moving, maintaining a stable grip with no observable changes in hand position, wrist posture or finger shape."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand makes slight adjustments to its grip on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block by opening fingers, separating from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post on the wooden assembly block, making small positional adjustments to nest the nut onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white cylindrical block, aligns and fits it onto the corresponding purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden peg rack, moving it above a purple peg on the rack."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, lowers the nut to fit it onto the peg, and makes slight finger adjustments to stabilize the part."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: press: Right hand presses the topmost white hexagonal block on the wooden assembly rack downward to seat it fully on the purple support rod."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table next to the wooden rack, with fingers held slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp_transport: Right hand adjusts its finger grip on the white hexagonal nut and transports the nut upward to a position directly above the purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, lowers the nut to fit onto the peg, and makes small positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple peg of the wooden base, opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor finger adjustments to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface while moving the block upward and toward the empty purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the position and orientation of the held green hexagonal block to align its central hole with the empty purple rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the green block placed on the purple rod of the assembly stand."}, {"label": "subtasks", "start_step": 1162, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the wooden peg assembly on the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg on the wooden base, positioning the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the matching peg on the wooden assembly base, sets the block down to rest stably on the base, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and to the right, approaching the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight adjustments to establish a firm hold on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block and slightly adjusts its position and orientation to align with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, letting it fall onto the right area of the black table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty toward the fallen white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the right table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1672, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reorient: Right hand holds the grasped white hexagonal block and rotates it about a quarter turn to adjust its orientation with minimal position change."}, {"label": "subtasks", "start_step": 1808, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport_place: Right hand holds the white hexagonal block, moves it left to the table area near the wooden rack, and lowers it until it is supported by the table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand maintains contact with the white hexagonal block on the table, slightly adjusting finger positions and wrist angle to stabilize the grasp."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the table surface and moves it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod and lowers it to fit onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut on the black table and lifts it upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down along the rod to rest stably on the white base of the rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated in the wooden rack, separating from the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and rightward across the table toward the green square block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand steadily holds the green hollow square block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hollow square block completely off the black table surface and transports the block upward and rightward to the position directly above the white cylinder with a purple top on the wooden block base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place: Right hand moves the green hollow square block downward to align its hollow center with the purple top of the white cylinder, lowering the block until it rests stably on the cylinder."}], "episode_index": 49}
+{"source_uid": "adbc55772e0620d2", "num_frames": 2266, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly from the initial raised position, adjusts fingers from an extended open state to a slightly curved shape, and stops at the left idle position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "goal", "start_step": 0, "end_step": 206, "id": "54886d48-ec00-4721-92d3-172ebac735eb"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "iyJGRXu1peT6ZAjEAsggx"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions and wrist angle to form a stable grip on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp on the green hexagonal block resting on the black table."}, {"label": "goal", "start_step": 207, "end_step": 344, "id": "201ea771-d786-45aa-adc8-b920fadcbda3"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg atop the existing white block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg of the wooden base until the block rests stably on the base, opening fingers to release the block."}, {"label": "goal", "start_step": 345, "end_step": 436, "id": "c39e7cbc-5676-471e-91fa-0e858011ee31"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger position adjustments to establish a secure grasp."}, {"label": "goal", "start_step": 437, "end_step": 564, "id": "9512709c-a4f2-415e-a3a7-a4cc7975afc6"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface and moves it upward to a position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg on the wooden assembly base, adjusting the nut's orientation and position to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand presses downward on the white top of the front green cylindrical block on the wooden pegboard."}, {"label": "goal", "start_step": 565, "end_step": 646, "id": "7c5ca703-4ab9-43c1-9757-bfc910c80924"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward with empty hand toward a white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the black table, making small adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 647, "end_step": 790, "id": "457d4227-a4a7-4ca8-80bc-75e1baece7f2"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the rack, makes slight positional adjustments, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand positions a white cylindrical block fully onto the purple rod of the wooden assembly base and releases grip on the block."}, {"label": "goal", "start_step": 791, "end_step": 888, "id": "74b38301-2976-4e66-a18d-d58318b92266"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to form a stable grip and lifts the block slightly upward off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward off the black table surface while maintaining a closed grip on the nut."}, {"label": "goal", "start_step": 889, "end_step": 988, "id": "66d2df86-766b-46f5-a92c-bee5a592620b"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal nut through the air to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place: Right hand lowers the held white hexagonal nut and seats it onto the purple peg of the wooden assembly stand, resting it on top of the existing green nut on the peg."}, {"label": "goal", "start_step": 989, "end_step": 1156, "id": "cea7f10f-c8ed-418d-8a84-a53caa1bde81"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the assembly stand toward the loose green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose green hexagonal nut on the table, with slight finger movements to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the area above the rightmost purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1157, "end_step": 1254, "id": "076f3068-fec5-4686-b34e-62a0b243b347"}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand adjusts the position of the green hexagonal block to align its central hole with the rightmost purple rod, lowers the block to fit it onto the rod and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press_release: Right hand applies downward pressure to the green block on the purple rod to seat it against the wooden base, with fingers opening to lose contact with the block."}, {"label": "goal", "start_step": 1255, "end_step": 1334, "id": "6cee563c-829f-4d89-89d6-34afd415b305"}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward across the black table surface with open fingers, approaching the white hexagonal nut resting near the loose green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table to establish a secure grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand maintains a closed grip on the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1335, "end_step": 1448, "id": "2bac1141-ffef-47ee-a7b0-80e30b0a8dd7"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the gripped white hexagonal nut upward and toward the wooden block assembly to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden block assembly, lowers the nut down the rod to seat it on the stacked blocks below, and makes small positional adjustments during the motion."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand holds the white hexagonal-topped block, aligns and fits it onto the wooden post on the wooden base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1449, "end_step": 1546, "id": "c8f06326-b4cb-45ec-bd73-c8e9d079abbc"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the table to the right of the wooden base, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, establishing a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it horizontally toward the purple vertical rod on the wooden assembly stand."}, {"label": "goal", "start_step": 1547, "end_step": 1776, "id": "890f6c81-0f04-42c6-a55d-91ce4792eec4"}, {"label": "subtasks", "start_step": 1575, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple vertical rod, and slides the nut down the rod to rest on the existing stack of nuts below."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, fully separating fingers from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: retreat: Right hand moves empty away from the assembly position toward the right side of the wooden stand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand extends its index finger to press the top white hexagonal block on the purple rod straight downward, until the block rests fully on the wooden base surface."}, {"label": "goal", "start_step": 1777, "end_step": 1896, "id": "26831b86-ccaf-42d7-a403-191c9d8e0a66"}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, with fingers held in a partially open pose as it approaches the nut."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to secure grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand grips the white hexagonal nut, moving upward and leftward from the area near the green block on the table to the position directly above the purple rod on the wooden assembly rack."}, {"label": "goal", "start_step": 1897, "end_step": 2004, "id": "d1488154-de02-43a9-bded-e435f7aef9cd"}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the rack, lowers the nut to fit it onto the rod, opens fingers to release the nut onto the purple component at the bottom of the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand holds the white capped bottle, moves downward to seat it in the empty slot of the wooden bottle rack, opening fingers to release the bottle as it rests on the rack."}, {"label": "goal", "start_step": 2005, "end_step": 2070, "id": "9a6cbae6-e53e-4fcf-9721-86ebab117291"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger contact positions to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand holds the green block and lifts it upward from the black table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2071, "end_step": 2194, "id": "203732a7-f9bf-43cc-baf3-76d7c14084c7"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the lifted green block, moving it upward and left to the position directly above the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the green block's position to align its central hole with the top of the target white cylinder below, then lowers the block to fit onto the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the fitted green block on top of the white cylinder with no visible movement of the hand or block."}, {"label": "home", "start_step": 2241, "end_step": 2265, "id": "vYOvJ2JIDSDKfVsrLnyYr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly from the initial raised position, adjusts fingers from an extended open state to a slightly curved shape, and stops at the left idle position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions and wrist angle to form a stable grip on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp on the green hexagonal block resting on the black table."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg atop the existing white block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg of the wooden base until the block rests stably on the base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger position adjustments to establish a secure grasp."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface and moves it upward to a position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg on the wooden assembly base, adjusting the nut's orientation and position to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand presses downward on the white top of the front green cylindrical block on the wooden pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward with empty hand toward a white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the black table, making small adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the rack, makes slight positional adjustments, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand positions a white cylindrical block fully onto the purple rod of the wooden assembly base and releases grip on the block."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to form a stable grip and lifts the block slightly upward off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward off the black table surface while maintaining a closed grip on the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal nut through the air to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place: Right hand lowers the held white hexagonal nut and seats it onto the purple peg of the wooden assembly stand, resting it on top of the existing green nut on the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the assembly stand toward the loose green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose green hexagonal nut on the table, with slight finger movements to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the area above the rightmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand adjusts the position of the green hexagonal block to align its central hole with the rightmost purple rod, lowers the block to fit it onto the rod and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press_release: Right hand applies downward pressure to the green block on the purple rod to seat it against the wooden base, with fingers opening to lose contact with the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward across the black table surface with open fingers, approaching the white hexagonal nut resting near the loose green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table to establish a secure grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand maintains a closed grip on the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the gripped white hexagonal nut upward and toward the wooden block assembly to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden block assembly, lowers the nut down the rod to seat it on the stacked blocks below, and makes small positional adjustments during the motion."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand holds the white hexagonal-topped block, aligns and fits it onto the wooden post on the wooden base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the table to the right of the wooden base, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, establishing a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it horizontally toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1575, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple vertical rod, and slides the nut down the rod to rest on the existing stack of nuts below."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, fully separating fingers from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: retreat: Right hand moves empty away from the assembly position toward the right side of the wooden stand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand extends its index finger to press the top white hexagonal block on the purple rod straight downward, until the block rests fully on the wooden base surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, with fingers held in a partially open pose as it approaches the nut."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to secure grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand grips the white hexagonal nut, moving upward and leftward from the area near the green block on the table to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the rack, lowers the nut to fit it onto the rod, opens fingers to release the nut onto the purple component at the bottom of the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand holds the white capped bottle, moves downward to seat it in the empty slot of the wooden bottle rack, opening fingers to release the bottle as it rests on the rack."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger contact positions to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand holds the green block and lifts it upward from the black table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the lifted green block, moving it upward and left to the position directly above the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the green block's position to align its central hole with the top of the target white cylinder below, then lowers the block to fit onto the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the fitted green block on top of the white cylinder with no visible movement of the hand or block."}], "episode_index": 50}
+{"source_uid": "b991dc9302ed74e0", "num_frames": 3194, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "11512a2d-8ede-455b-9c9d-201dd2b01d13"}, {"label": "valid", "start_step": 0, "end_step": 3167, "id": "65vk9IPJ_umNoCDAofoqm"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 143, "end_step": 1032, "id": "f34056e0-2b11-4f4f-832a-abb72981e019"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is already inserted on the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green blocks placed on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above another target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the remaining green block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the third target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to make it firmly inserted."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1033, "end_step": 1174, "id": "1556f345-eada-44ea-9b9a-86dcb3e4593d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1175, "end_step": 1402, "id": "b072dcb2-3f0b-4081-8bdf-a4b861ae9dfb"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete initial assembly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to push it to the lower part of the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1403, "end_step": 1502, "id": "949b8991-3153-485f-8de4-4611c8e5532b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1503, "end_step": 1634, "id": "09c2ef15-900b-4854-9d3c-743ad272a190"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the upper left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand pushes the white hexagonal object down along the purple rod until it rests on the green base of the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the rod on the wooden base."}, {"label": "goal", "start_step": 1635, "end_step": 1736, "id": "9c9af3b4-7509-48ce-a592-af060dfcae30"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1737, "end_step": 1848, "id": "66b3188f-a195-4979-8e6a-4f081f00915d"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg by fitting it down along the peg, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1849, "end_step": 1930, "id": "416cf8a2-0204-415e-84c9-be7025054081"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1931, "end_step": 2032, "id": "c6886289-6f58-490b-8324-04bc3fea8d8d"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "goal", "start_step": 2033, "end_step": 2114, "id": "64025e50-46d7-41b7-87cc-e63791305252"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2218, "id": "9cb0ded7-7c71-415b-957e-d9bc8ae49cab"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting it downwards."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 2219, "end_step": 2286, "id": "fb32aba4-43ed-4bdb-9a15-834161deda5a"}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2287, "end_step": 2384, "id": "4296b9f7-55ba-40cf-bcea-4dad6da9cdb1"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cap on the purple rod to push it down slightly."}, {"label": "goal", "start_step": 2385, "end_step": 2706, "id": "6be9eae9-c37e-4262-8f13-f7aa6f07c643"}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table to adjust its orientation."}, {"label": "subtasks", "start_step": 2580, "end_step": 2647, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hollow cylindrical block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2707, "end_step": 2868, "id": "6cbea344-09bf-4d20-bb4a-8a29cc25e27f"}, {"label": "subtasks", "start_step": 2738, "end_step": 2841, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylindrical block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 2869, "end_step": 2976, "id": "71dc9f9f-4aef-4cd4-950f-326ed2cfc080"}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 2991, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 2977, "end_step": 3126, "id": "96eedf9c-35ab-4e08-bc1b-a2c2edb1e2bd"}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block towards the purple rod on the white bottle at the front right of the wooden rack."}, {"label": "subtasks", "start_step": 3030, "end_step": 3119, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, fitting it down onto the white bottle."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green cubic block after it is properly fitted onto the bottle."}, {"label": "home", "start_step": 3168, "end_step": 3193, "id": "W4O2h5xRVc0oAyv9Ofgui"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is already inserted on the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green blocks placed on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above another target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the remaining green block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the third target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to make it firmly inserted."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete initial assembly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to push it to the lower part of the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the upper left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand pushes the white hexagonal object down along the purple rod until it rests on the green base of the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg by fitting it down along the peg, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting it downwards."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cap on the purple rod to push it down slightly."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table to adjust its orientation."}, {"label": "subtasks", "start_step": 2580, "end_step": 2647, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hollow cylindrical block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2738, "end_step": 2841, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylindrical block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 2991, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block towards the purple rod on the white bottle at the front right of the wooden rack."}, {"label": "subtasks", "start_step": 3030, "end_step": 3119, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, fitting it down onto the white bottle."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green cubic block after it is properly fitted onto the bottle."}], "episode_index": 51}
+{"source_uid": "3aa849076ddb79f3", "num_frames": 3495, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty at the right initial position without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "89410cf5-ee22-4139-8336-31ed28d11595"}, {"label": "valid", "start_step": 0, "end_step": 3471, "id": "7qpHxOpruG1udr68E6Ydi"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves leftward and downward with open fingers, approaching the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand holds the green hexagonal block on the supporting surface and lifts it upward until the block is fully off the surface."}, {"label": "goal", "start_step": 155, "end_step": 254, "id": "2494f464-b014-43b0-8fed-443e258b4810"}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport_mate: Right hand moves the green hexagonal block to the position above the left purple peg, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface below the hand."}, {"label": "goal", "start_step": 255, "end_step": 432, "id": "f34c5870-40b8-4b15-8055-6e8462d9bcd0"}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted white hexagonal block vertically upward through the air."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes slight adjustments to wrist and finger positions to stabilize its grasp on the white hexagonal block near the table surface."}, {"label": "goal", "start_step": 433, "end_step": 538, "id": "cd297548-b981-4892-a4d5-0dab37e55092"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand holds the stabilized white hexagonal block and moves it upward and toward the wooden assembly rack, positioning the block directly above the leftmost purple post on the rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple post, lowers the block to fit it onto the post with minor wrist adjustments."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: place_release: Right hand holds the white hexagonal block, places it onto the purple rod on the wooden assembly base, and releases grip on the block."}, {"label": "goal", "start_step": 539, "end_step": 634, "id": "665368be-3e86-4353-bf3c-ffcd9a432156"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts finger positions and closes fingers around the block during the grasping process."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the table surface until the nut fully leaves the table."}, {"label": "goal", "start_step": 635, "end_step": 750, "id": "43408767-27bd-4797-985a-4e17d7f2fee9"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the empty purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, moves the nut downward to nest it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand aligns and seats the held white hexagonal sleeve onto the front-left purple rod of the wooden assembly base, opening fingers to release the fitted sleeve."}, {"label": "goal", "start_step": 751, "end_step": 852, "id": "3c6dc7ed-5e84-4368-9e94-7d67b3765f5a"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward to approach the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent green hexagonal block to form a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 853, "end_step": 1036, "id": "802ce638-6424-41d6-9aa7-ced8edf18a10"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal block, moving it to the position directly above the target purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal block, aligns its central hole with the purple rod, and slides the block down the rod to fit it in place."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward empty from the area above the wooden peg board toward the green hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1037, "end_step": 1174, "id": "c8a9168d-522e-464c-81ee-f2ef51b84b2b"}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the dark table surface to establish a grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand firmly holds the green hexagonal block, lifting it vertically upward to separate it completely from the black table surface."}, {"label": "goal", "start_step": 1175, "end_step": 1338, "id": "f2c8bfe9-384a-414a-88f6-6031b3d41861"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the green hexagonal block, moving it toward the purple vertical post on the wooden assembly base until the block is positioned directly above the post."}, {"label": "subtasks", "start_step": 1208, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, making slight positional adjustments while moving the block downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the closest white hexagonal block on the table, remaining empty without contacting the target block."}, {"label": "goal", "start_step": 1339, "end_step": 1436, "id": "2812d5a1-c493-4b55-9c87-d48e9fab7640"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the closest white hexagonal block on the table, fingers close and adjust positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1437, "end_step": 1538, "id": "1b0c7ec6-827f-4845-af8c-ae1baace97b3"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward from above the block assembly toward the closer white hexagonal block on the table."}, {"label": "goal", "start_step": 1539, "end_step": 1620, "id": "201b39a4-eeb9-4c1a-b556-51da433fea20"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the closer white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 1621, "end_step": 1906, "id": "eb7be7e6-1396-4ac2-91c1-8a0c8522a270"}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it leftward and upward to the position directly above the rightmost empty peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the target peg, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the peg, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to let the block slide down the rod to the wooden base."}, {"label": "goal", "start_step": 1907, "end_step": 2102, "id": "d7c41496-3df9-41c4-88b1-f1cadea1ff49"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the black table surface, with fingers held in an open extended position."}, {"label": "subtasks", "start_step": 1980, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions around the loose white hexagonal block, closing fingers gradually while slightly repositioning the block to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward, raising the block completely off the black table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block stationary above the right area of the black table surface, with no visible movement or finger adjustment."}, {"label": "goal", "start_step": 2103, "end_step": 2214, "id": "3006886b-5291-4e48-83d1-735dfd80487f"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward, carrying it to the position directly above the empty top-right slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional adjustments to align the block's central hole with the purple peg in the target slot, and lowers the block gradually toward the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens fingers to release the white bottle seated in the wooden rack, separating fully from the bottle by the end of the segment."}, {"label": "goal", "start_step": 2215, "end_step": 2302, "id": "a0ba9cbb-166c-41ae-a7eb-529371a94df3"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward with an open posture toward the green cube placed on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the green cube on the table surface to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward while holding the green cube, lifting the object completely off the supporting table surface."}, {"label": "goal", "start_step": 2303, "end_step": 3384, "id": "ba5d3289-506c-4ab7-a5ef-767e825d8141"}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2564, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand adjusts the green cubic block to align its central hole with the purple topped post for fitting, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2565, "end_step": 2924, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand stays empty above the wooden tray without noticeable movement as the released green block slides down to the table surface."}, {"label": "subtasks", "start_step": 2925, "end_step": 2984, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from above the tray toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the green block, flips the block to an upright orientation with its central hole facing upward, adjusts finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00062", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped green cubic block from the black table surface, raising the block completely off the table."}, {"label": "subtasks", "start_step": 3218, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air back to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 3255, "end_step": 3389, "id": "reasoning-language-00064", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position of the green cubic block to align its central hole with the purple topped post, attempting to seat the block onto the post."}, {"label": "home", "start_step": 3472, "end_step": 3494, "id": "wTQlfYrZEHM0NDspfmUfD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty at the right initial position without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves leftward and downward with open fingers, approaching the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand holds the green hexagonal block on the supporting surface and lifts it upward until the block is fully off the surface."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport_mate: Right hand moves the green hexagonal block to the position above the left purple peg, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface below the hand."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted white hexagonal block vertically upward through the air."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes slight adjustments to wrist and finger positions to stabilize its grasp on the white hexagonal block near the table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand holds the stabilized white hexagonal block and moves it upward and toward the wooden assembly rack, positioning the block directly above the leftmost purple post on the rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple post, lowers the block to fit it onto the post with minor wrist adjustments."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: place_release: Right hand holds the white hexagonal block, places it onto the purple rod on the wooden assembly base, and releases grip on the block."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts finger positions and closes fingers around the block during the grasping process."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the table surface until the nut fully leaves the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the empty purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, moves the nut downward to nest it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand aligns and seats the held white hexagonal sleeve onto the front-left purple rod of the wooden assembly base, opening fingers to release the fitted sleeve."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward to approach the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent green hexagonal block to form a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal block, moving it to the position directly above the target purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal block, aligns its central hole with the purple rod, and slides the block down the rod to fit it in place."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward empty from the area above the wooden peg board toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the dark table surface to establish a grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand firmly holds the green hexagonal block, lifting it vertically upward to separate it completely from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the green hexagonal block, moving it toward the purple vertical post on the wooden assembly base until the block is positioned directly above the post."}, {"label": "subtasks", "start_step": 1208, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, making slight positional adjustments while moving the block downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the closest white hexagonal block on the table, remaining empty without contacting the target block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the closest white hexagonal block on the table, fingers close and adjust positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward from above the block assembly toward the closer white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the closer white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it leftward and upward to the position directly above the rightmost empty peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the target peg, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the peg, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to let the block slide down the rod to the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the black table surface, with fingers held in an open extended position."}, {"label": "subtasks", "start_step": 1980, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions around the loose white hexagonal block, closing fingers gradually while slightly repositioning the block to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward, raising the block completely off the black table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block stationary above the right area of the black table surface, with no visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward, carrying it to the position directly above the empty top-right slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional adjustments to align the block's central hole with the purple peg in the target slot, and lowers the block gradually toward the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens fingers to release the white bottle seated in the wooden rack, separating fully from the bottle by the end of the segment."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward with an open posture toward the green cube placed on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the green cube on the table surface to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward while holding the green cube, lifting the object completely off the supporting table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2564, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand adjusts the green cubic block to align its central hole with the purple topped post for fitting, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2565, "end_step": 2924, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand stays empty above the wooden tray without noticeable movement as the released green block slides down to the table surface."}, {"label": "subtasks", "start_step": 2925, "end_step": 2984, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from above the tray toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the green block, flips the block to an upright orientation with its central hole facing upward, adjusts finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00062", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped green cubic block from the black table surface, raising the block completely off the table."}, {"label": "subtasks", "start_step": 3218, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air back to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 3255, "end_step": 3389, "id": "reasoning-language-00064", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position of the green cubic block to align its central hole with the purple topped post, attempting to seat the block onto the post."}], "episode_index": 52}
+{"source_uid": "d055a194ab953b6e", "num_frames": 3080, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block, with wrist rotating slightly to adjust hand orientation."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "50ed2e6a-0ba9-4112-8ac4-1c2c951df311"}, {"label": "valid", "start_step": 0, "end_step": 3051, "id": "mt34euIaG2mxqKoc3ekTF"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 127, "end_step": 236, "id": "b0d9d6b4-6dda-4ade-b388-922afa6f6a50"}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, adjusting position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates the white hollow hexagonal block onto the left purple peg and releases the block."}, {"label": "goal", "start_step": 237, "end_step": 326, "id": "726bc3d4-9912-43c4-97a5-207da54ff5af"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface."}, {"label": "goal", "start_step": 327, "end_step": 462, "id": "05516823-8b01-4f0c-af9f-fb553f630f50"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward to the top of the leftmost front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost front purple peg of the wooden rack by moving it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates and releases the white ring on the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 463, "end_step": 534, "id": "70f4dc8d-7b3d-4705-aeb0-0463a2114e1c"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 535, "end_step": 730, "id": "f7d1c565-199b-46c9-aff7-e3762f29b837"}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the wooden rack, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped part onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 731, "end_step": 832, "id": "d09f3d13-cca3-4db4-95bb-7d403f2ae79c"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring-shaped part, with fingers opening and moving away from the part."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal part on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to above the rightmost purple rod of the wooden rack."}, {"label": "goal", "start_step": 833, "end_step": 946, "id": "623681e7-cf6a-4c64-bddd-1b106da05c15"}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple rod by lowering it along the rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening gradually until fully separated from the piece."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the rightmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers opening from the gripping position."}, {"label": "goal", "start_step": 947, "end_step": 1022, "id": "93251519-f22b-4ab6-9da6-c84a34e68598"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1023, "end_step": 1436, "id": "6076d01b-3456-4405-b2e9-8c5ebc3d8b01"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, adjusting the block's position to align its hole with the peg and lowering it downward."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the green hexagonal block upward slightly to readjust its alignment with the purple peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg again, lowering the block onto the peg and adjusting its position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand fits the white annular part onto the green cylindrical part on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1437, "end_step": 1544, "id": "13715319-0dbd-4f86-a8ff-87da93ea1bc3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal part on the table with empty hand."}, {"label": "subtasks", "start_step": 1492, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, adjusting fingers to form a stable grip while the object rests on the table surface."}, {"label": "goal", "start_step": 1545, "end_step": 1854, "id": "8630fade-4c55-4843-a6fa-3786008aa9c0"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the wooden peg board on the right side."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal object, which falls onto the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches down towards the white hexagonal object on the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table near the peg board, adjusting fingers to secure a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upwards to the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns and fits the white hexagonal object onto the green peg of the wooden board, adjusting position slightly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal object on the green peg of the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring onto the peg of the wooden rack."}, {"label": "goal", "start_step": 1855, "end_step": 1940, "id": "4a207c0d-0cc6-4d5d-8bd4-20f8ee55fbfe"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table."}, {"label": "goal", "start_step": 1941, "end_step": 2050, "id": "57713ee9-573a-4958-9d87-12b559060b15"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal block from the right side of the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening until separated from the block."}, {"label": "goal", "start_step": 2051, "end_step": 2252, "id": "fe76f946-e05d-4105-a52e-025ea2afd6f0"}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward, lifting the block off the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block in the air above the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white ring-shaped component from the right side of the table toward the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 2253, "end_step": 2494, "id": "f4a67475-3407-41e8-b2cd-2a6e273f4f81"}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped component with the purple rod by aligning the component's hole with the rod and inserting the rod into it."}, {"label": "subtasks", "start_step": 2318, "end_step": 2511, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: press: Right hand presses the white ring-shaped component downward along the purple rod."}, {"label": "goal", "start_step": 2495, "end_step": 2580, "id": "09715525-663b-42bd-bde9-644148789f2b"}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green square ring resting on the right side of the black table."}, {"label": "goal", "start_step": 2581, "end_step": 2946, "id": "0cc14463-52ad-4caa-be38-95ae7b68d7d4"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green square ring from the table surface and transports it leftward toward the wooden rack with bottles."}, {"label": "subtasks", "start_step": 2610, "end_step": 2849, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green square ring with the top of the rightmost front bottle and slowly moves the ring downward along the bottle body."}, {"label": "subtasks", "start_step": 2850, "end_step": 2954, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green square ring fitted on the target bottle without any observable movement."}, {"label": "home", "start_step": 3052, "end_step": 3079, "id": "i_13ficQ9VNSYwrD31B5k"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block, with wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, adjusting position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates the white hollow hexagonal block onto the left purple peg and releases the block."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward to the top of the leftmost front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost front purple peg of the wooden rack by moving it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates and releases the white ring on the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the wooden rack, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring-shaped part, with fingers opening and moving away from the part."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal part on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to above the rightmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple rod by lowering it along the rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening gradually until fully separated from the piece."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the rightmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers opening from the gripping position."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, adjusting the block's position to align its hole with the peg and lowering it downward."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the green hexagonal block upward slightly to readjust its alignment with the purple peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg again, lowering the block onto the peg and adjusting its position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand fits the white annular part onto the green cylindrical part on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal part on the table with empty hand."}, {"label": "subtasks", "start_step": 1492, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, adjusting fingers to form a stable grip while the object rests on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the wooden peg board on the right side."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal object, which falls onto the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches down towards the white hexagonal object on the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table near the peg board, adjusting fingers to secure a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upwards to the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns and fits the white hexagonal object onto the green peg of the wooden board, adjusting position slightly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal object on the green peg of the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring onto the peg of the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal block from the right side of the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening until separated from the block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward, lifting the block off the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block in the air above the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white ring-shaped component from the right side of the table toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped component with the purple rod by aligning the component's hole with the rod and inserting the rod into it."}, {"label": "subtasks", "start_step": 2318, "end_step": 2511, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: press: Right hand presses the white ring-shaped component downward along the purple rod."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green square ring resting on the right side of the black table."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green square ring from the table surface and transports it leftward toward the wooden rack with bottles."}, {"label": "subtasks", "start_step": 2610, "end_step": 2849, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green square ring with the top of the rightmost front bottle and slowly moves the ring downward along the bottle body."}, {"label": "subtasks", "start_step": 2850, "end_step": 2954, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green square ring fitted on the target bottle without any observable movement."}], "episode_index": 53}
+{"source_uid": "f58d2594cfd80e30", "num_frames": 2444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward toward the green cube located at the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 144, "id": "1572bb5d-0088-4a26-a7c6-745979d165bb"}, {"label": "valid", "start_step": 0, "end_step": 2416, "id": "c9Lb9OxmC_88VbZWCiRpk"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers and position to grasp the green cube at the front left of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 145, "end_step": 274, "id": "6ac3f9df-7e8e-4975-84e9-7440193db4b8"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 275, "end_step": 448, "id": "3066ad53-69c1-4ad3-9b6a-81828a054efe"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it to above the front-left purple rod of the assembly rack."}, {"label": "goal", "start_step": 449, "end_step": 594, "id": "52728a99-96fb-4b48-b0f7-3ce2149e0b8d"}, {"label": "subtasks", "start_step": 472, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the assembly rack by pressing it down along the rod."}, {"label": "goal", "start_step": 595, "end_step": 690, "id": "4b14942e-0d1b-45f6-9e0d-1a1012844651"}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black tabletop."}, {"label": "goal", "start_step": 691, "end_step": 818, "id": "97875c20-92dc-4d89-9552-12917a3ec48f"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple column on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple column by aligning and inserting it onto the column."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 819, "end_step": 908, "id": "6531fedb-182a-4fdd-acf2-f6b1a4b5dedf"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 909, "end_step": 1304, "id": "d082a4aa-ec17-44f4-8ac9-766e63bcabaa"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1207, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block near the wooden base and grasps it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1305, "end_step": 1400, "id": "45e126d3-ebb4-4dfd-b090-dc7e543783c2"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1401, "end_step": 1520, "id": "f4cb8e5b-3b7f-4a73-b7fc-b9d346b89c93"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1521, "end_step": 1596, "id": "3f09edf3-3607-4111-89d9-5aab1c92acc0"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1597, "end_step": 1750, "id": "b9ee16c3-b9e0-4286-a78f-174421daa8c8"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal tube from the tabletop and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal tube onto the corresponding post on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring on the peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1751, "end_step": 1824, "id": "5ba155a7-e2ef-4410-95b9-c34afee35c88"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table, fingers closing around the ring."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1825, "end_step": 1916, "id": "6d94ae17-f3b6-4ce9-b1c1-3c90d070ebbc"}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1917, "end_step": 2010, "id": "9cc4fdce-c0a7-40ce-b038-8adc4775c8db"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2011, "end_step": 2120, "id": "c9aa8099-cf60-4cae-8d2d-ec1935841c11"}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2121, "end_step": 2210, "id": "159ac923-b00a-4c03-9d94-49105eac899a"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring and lifts fingers away from the ring."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 2211, "end_step": 2360, "id": "62771bda-687b-40b0-8501-b00fc23c752e"}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2369, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post by aligning the block's hole with the post and pressing it down to fit."}, {"label": "home", "start_step": 2417, "end_step": 2443, "id": "bL1JVg_tzJEGQgqMNP5Yo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward toward the green cube located at the front left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers and position to grasp the green cube at the front left of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it to above the front-left purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 472, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the assembly rack by pressing it down along the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black tabletop."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple column on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple column by aligning and inserting it onto the column."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1207, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block near the wooden base and grasps it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal tube from the tabletop and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal tube onto the corresponding post on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring on the peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table, fingers closing around the ring."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring and lifts fingers away from the ring."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2369, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post by aligning the block's hole with the post and pressing it down to fit."}], "episode_index": 54}
+{"source_uid": "f6a8cae859fd604a", "num_frames": 2202, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position on the left side of the workspace slightly forward and down to its natural home resting position. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "7ed4a343-d5a1-4387-b712-09f23d681ddd"}, {"label": "valid", "start_step": 0, "end_step": 2173, "id": "1BDnMc6QZXXlbbpYAw5X8"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, fingers close around the nut while adjusting finger positions and wrist angle to establish a stable grip, with the nut remaining near the table surface throughout this interval."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 129, "end_step": 214, "id": "b126f96d-baff-4fbf-9ef2-db8ed2c57f6c"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block through the air toward the purple peg on the wooden base, aligning the block's central hole with the peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold_place: Right hand holds the green hexagonal block fitted on the purple peg stationary, moving the block downward along the peg until it rests stably on the lower green support block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden peg stand toward the white hexagonal block placed on the table near the stand, with no contact with the block yet."}, {"label": "goal", "start_step": 215, "end_step": 404, "id": "f5cf5d6e-069a-4d0c-af25-96ecd2a9401c"}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish contact with the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes slight finger adjustments around the white hexagonal block to refine the grasp, with small movements of the fingers observed."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the black table surface and transports it to the position directly above the purple peg on the wooden assembly block."}, {"label": "goal", "start_step": 405, "end_step": 550, "id": "e5d5721b-f431-4d62-9283-cc7014223689"}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the top section of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to move it further toward the wooden block base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves vertically downward to seat it on the purple peg of the wooden assembly base, opens fingers to release the block as the block becomes stably supported by the peg."}, {"label": "goal", "start_step": 551, "end_step": 660, "id": "72828a8c-5d4c-4060-9869-4cfe5d4c9b23"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers close and make small adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut block, moves it upward and toward the wooden block assembly rack, transporting the block to the position above the purple pegs of the rack."}, {"label": "goal", "start_step": 661, "end_step": 808, "id": "a74d81fd-2b2f-4b72-8cf3-609319ce449c"}, {"label": "subtasks", "start_step": 682, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with a purple peg on the wooden rack, moves the block downward to nest it onto the peg, forming an assembled connection with the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns the nut with a purple rod on the light wooden base, lowers the nut to fit securely onto the rod, and opens fingers to release the seated nut."}, {"label": "goal", "start_step": 809, "end_step": 892, "id": "1fd81d15-6eba-404e-916a-50cb5a79aec4"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden base toward a loose white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the black tabletop, closes fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut, moving it upward and rightward toward the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 893, "end_step": 988, "id": "15fc78c3-999d-46c1-8971-a1df4b0cf911"}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple post, and lowers it to nest onto the post."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple post without observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple peg on the wooden base, seats the block stably on the base, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 989, "end_step": 1074, "id": "240c688c-12a9-453c-8a86-2fe949a578be"}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden block set towards the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table to establish contact and form a grasp on the block."}, {"label": "goal", "start_step": 1075, "end_step": 1172, "id": "6f7c98eb-3db2-468b-96a3-a07e2798cdc0"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making small wrist and finger adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg of the wooden assembly downward to seat it fully."}, {"label": "goal", "start_step": 1173, "end_step": 1250, "id": "8e205287-c871-4d72-84bf-41957f144c38"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut block on the dark table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 1251, "end_step": 1342, "id": "4372a4c0-a46c-4699-92f3-27a8972131a0"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and carries it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple rod on the assembly base, makes slight positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white cylindrical block on the purple rod of the wooden tray, applies downward pressure to seat the block stably, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 1343, "end_step": 1416, "id": "c3bae58a-76da-4fc9-a167-5f13736d81dc"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block resting on the dark table surface near the wooden tray."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "goal", "start_step": 1417, "end_step": 1562, "id": "3d0233f4-ce1e-46b6-93c2-db82e972b341"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand makes fine positional and orientational adjustments to the white hexagonal block, aligns its central hole with the purple rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, moving fingers away from the block surface."}, {"label": "goal", "start_step": 1563, "end_step": 1802, "id": "8cf8d141-f302-4367-8055-d7e6381f8fde"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the misaligned white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand grasps the misaligned white hexagonal block, adjusts its alignment with the purple rod, and presses it down to seat the block fully onto the rod base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward and to the right toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish contact for a grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward to the position above the purple rod on the wooden assembly block."}, {"label": "goal", "start_step": 1803, "end_step": 1910, "id": "bc3cca3a-2315-4841-8af1-14918760b012"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple rod on the wooden assembly block without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand releases the white plastic component fitted on the purple rod of the assembly stand, with fingers opening and withdrawing from the component to break contact."}, {"label": "goal", "start_step": 1911, "end_step": 1998, "id": "ca8b21b7-1593-4d52-9bfb-a8bf1ac92b76"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty diagonally downward and rightward toward the small green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the small green cubic block on the table, with fingers gradually closing around the block to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand holds the gripped green cubic block and moves upward, lifting the block fully off the black table surface."}, {"label": "goal", "start_step": 1999, "end_step": 2130, "id": "3b6c450d-c690-4853-aebb-850d1af7d28d"}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green block, moving it upward and toward the target peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block that rests on the peg."}, {"label": "home", "start_step": 2174, "end_step": 2201, "id": "F3VL8kKctoT84YuwsBegP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position on the left side of the workspace slightly forward and down to its natural home resting position. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, fingers close around the nut while adjusting finger positions and wrist angle to establish a stable grip, with the nut remaining near the table surface throughout this interval."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block through the air toward the purple peg on the wooden base, aligning the block's central hole with the peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold_place: Right hand holds the green hexagonal block fitted on the purple peg stationary, moving the block downward along the peg until it rests stably on the lower green support block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden peg stand toward the white hexagonal block placed on the table near the stand, with no contact with the block yet."}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish contact with the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes slight finger adjustments around the white hexagonal block to refine the grasp, with small movements of the fingers observed."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the black table surface and transports it to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the top section of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to move it further toward the wooden block base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves vertically downward to seat it on the purple peg of the wooden assembly base, opens fingers to release the block as the block becomes stably supported by the peg."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers close and make small adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut block, moves it upward and toward the wooden block assembly rack, transporting the block to the position above the purple pegs of the rack."}, {"label": "subtasks", "start_step": 682, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with a purple peg on the wooden rack, moves the block downward to nest it onto the peg, forming an assembled connection with the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns the nut with a purple rod on the light wooden base, lowers the nut to fit securely onto the rod, and opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden base toward a loose white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the black tabletop, closes fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut, moving it upward and rightward toward the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple post, and lowers it to nest onto the post."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple post without observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple peg on the wooden base, seats the block stably on the base, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden block set towards the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table to establish contact and form a grasp on the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making small wrist and finger adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg of the wooden assembly downward to seat it fully."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut block on the dark table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and carries it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple rod on the assembly base, makes slight positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white cylindrical block on the purple rod of the wooden tray, applies downward pressure to seat the block stably, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block resting on the dark table surface near the wooden tray."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand makes fine positional and orientational adjustments to the white hexagonal block, aligns its central hole with the purple rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the misaligned white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand grasps the misaligned white hexagonal block, adjusts its alignment with the purple rod, and presses it down to seat the block fully onto the rod base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward and to the right toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish contact for a grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple rod on the wooden assembly block without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand releases the white plastic component fitted on the purple rod of the assembly stand, with fingers opening and withdrawing from the component to break contact."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty diagonally downward and rightward toward the small green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the small green cubic block on the table, with fingers gradually closing around the block to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand holds the gripped green cubic block and moves upward, lifting the block fully off the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green block, moving it upward and toward the target peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block that rests on the peg."}], "episode_index": 55}
+{"source_uid": "2fabb7ce659de73e", "num_frames": 2395, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty with an open pose from the right initial position toward the green hexagonal nut in front of the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "6ec618cf-83a6-4e4a-acf2-388b6be8f12e"}, {"label": "valid", "start_step": 0, "end_step": 2370, "id": "S8y9ujpBVryxVJYg7_oNA"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to form a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 250, "id": "a5eb508b-a65c-4127-931c-1d20e47dd3da"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden assembly base, positioning it directly above the target purple post."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the wooden base and slides the block down along the post to fit it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden stand base, fingers open to release the block once it rests stably."}, {"label": "goal", "start_step": 251, "end_step": 326, "id": "71343a9d-cb6b-4911-8f7d-fcaadb2fa1bc"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block on the table, approaching the target with fingers slightly open."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "goal", "start_step": 327, "end_step": 448, "id": "2aa3a6c5-ac45-48b9-bd86-ca4e040e8c8d"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, lowering the nut to fit securely onto the post."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the stacked white and green block seated on the front purple peg of the wooden base, opening fingers to separate fully from the stabilized block."}, {"label": "goal", "start_step": 449, "end_step": 608, "id": "e17449a7-5070-44f3-9238-c57dc5207775"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to finger and wrist position to establish a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface with no visible movement of the hand, fingers, or grasped block."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the target purple post on the wooden block base."}, {"label": "goal", "start_step": 609, "end_step": 738, "id": "231dc345-8931-4d2b-806d-8525973c88a2"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and fits the nut down onto the post to complete the nesting assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: press: Right hand applies downward pressure on the white cylindrical block on the leftmost front purple peg to seat it fully onto the peg."}, {"label": "goal", "start_step": 739, "end_step": 826, "id": "9794f851-c61b-4653-a179-f8d3554cd299"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table directly in front of the wooden peg base."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "goal", "start_step": 827, "end_step": 920, "id": "90b7eec0-ac2f-421b-90d7-e7dbbc7b0d63"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple rod and lowers it to fit the nut onto the rod until it is fully seated on the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden pegboard and opens fingers to release the block as it becomes supported by the peg."}, {"label": "goal", "start_step": 921, "end_step": 998, "id": "e1f6c1c3-16fc-4eab-ae66-42ab9c86195b"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward away from the pegboard toward the green hexagonal block on the black table surface, with fingers slightly spread while approaching the target."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish grip on the block."}, {"label": "goal", "start_step": 999, "end_step": 1124, "id": "856de5d0-5ccc-4f97-b2a4-01d0f7bb0d3d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting it completely off the supporting table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden block assembly, positioning it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the top end of the purple rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod until it rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly board toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1125, "end_step": 1408, "id": "d261cf01-be9d-4a06-9c16-82392197d4b3"}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp_release: Right hand contacts the white hexagonal nut on the table, adjusting finger positions during grasping attempts, causing the nut to topple onto its side as fingers release contact."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the toppled white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reorient: Right hand contacts the toppled white hexagonal nut, rotating it approximately 90 degrees to set it upright on the table with minimal positional change."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the upright white hexagonal nut to establish a stable grip."}, {"label": "goal", "start_step": 1409, "end_step": 1552, "id": "212a2277-937b-4fcf-ac5c-109b8e6c0ec1"}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden base, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block with purple top placed on the wooden block holder."}, {"label": "goal", "start_step": 1553, "end_step": 1632, "id": "fdc3f61d-0585-4625-aeb5-fd61bda2bf80"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward across the table surface to approach the upper white hexagonal nut."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers to make contact with and establish grip on the upper white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table to the right of the wooden stand, lifts it vertically upward until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 1633, "end_step": 1730, "id": "4d6a1787-3ff2-4df6-9d99-f3e60fa57093"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the suspended white hexagonal nut upward and leftward, moving it to a position directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, lowers the nut along the rod to fit it into the stacked block assembly on the wooden stand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod without obvious movement."}, {"label": "goal", "start_step": 1731, "end_step": 1810, "id": "8d833c0a-4403-43ff-a713-564197c0c27c"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block, moves empty downward and rightward toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting it completely off the table surface."}, {"label": "goal", "start_step": 1811, "end_step": 1914, "id": "81254d45-040a-47bc-a286-cc7191121517"}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the white ring-shaped block, moves it upward and leftward from the right side of the table to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white ring-shaped block with the purple rod on the stand, moves the block downward to nest it onto the rod with slight wrist adjustments for correct positioning."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the white hollow block on the wooden block stand, separating fully from the block by the end of the segment."}, {"label": "goal", "start_step": 1915, "end_step": 2036, "id": "b32a20e3-c320-46f4-964e-81c404f39184"}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cube on the black table surface, approaching the target cube."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a grasp, with the cube remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green square block on the dark table surface without moving."}, {"label": "goal", "start_step": 2037, "end_step": 2260, "id": "32e8a14e-e2ff-4cf8-8e84-c9a171dd3e50"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface, transporting it upward to position above the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes small finger adjustments to its grip on the green square block, stabilizing the block on the purple peg."}, {"label": "home", "start_step": 2371, "end_step": 2394, "id": "H1izj-O1Cd5sGH28mswa7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty with an open pose from the right initial position toward the green hexagonal nut in front of the wooden peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to form a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden assembly base, positioning it directly above the target purple post."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the wooden base and slides the block down along the post to fit it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden stand base, fingers open to release the block once it rests stably."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block on the table, approaching the target with fingers slightly open."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, lowering the nut to fit securely onto the post."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the stacked white and green block seated on the front purple peg of the wooden base, opening fingers to separate fully from the stabilized block."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to finger and wrist position to establish a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface with no visible movement of the hand, fingers, or grasped block."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the target purple post on the wooden block base."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and fits the nut down onto the post to complete the nesting assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: press: Right hand applies downward pressure on the white cylindrical block on the leftmost front purple peg to seat it fully onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table directly in front of the wooden peg base."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple rod and lowers it to fit the nut onto the rod until it is fully seated on the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden pegboard and opens fingers to release the block as it becomes supported by the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward away from the pegboard toward the green hexagonal block on the black table surface, with fingers slightly spread while approaching the target."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting it completely off the supporting table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden block assembly, positioning it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the top end of the purple rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod until it rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly board toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp_release: Right hand contacts the white hexagonal nut on the table, adjusting finger positions during grasping attempts, causing the nut to topple onto its side as fingers release contact."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the toppled white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reorient: Right hand contacts the toppled white hexagonal nut, rotating it approximately 90 degrees to set it upright on the table with minimal positional change."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the upright white hexagonal nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden base, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block with purple top placed on the wooden block holder."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward across the table surface to approach the upper white hexagonal nut."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers to make contact with and establish grip on the upper white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table to the right of the wooden stand, lifts it vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the suspended white hexagonal nut upward and leftward, moving it to a position directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, lowers the nut along the rod to fit it into the stacked block assembly on the wooden stand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block, moves empty downward and rightward toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting it completely off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the white ring-shaped block, moves it upward and leftward from the right side of the table to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white ring-shaped block with the purple rod on the stand, moves the block downward to nest it onto the rod with slight wrist adjustments for correct positioning."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the white hollow block on the wooden block stand, separating fully from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cube on the black table surface, approaching the target cube."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a grasp, with the cube remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green square block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface, transporting it upward to position above the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes small finger adjustments to its grip on the green square block, stabilizing the block on the purple peg."}], "episode_index": 56}
+{"source_uid": "5806b40f5efee6cc", "num_frames": 2311, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "4afecfb9-8305-4ad9-a3aa-6434f5e5b511"}, {"label": "valid", "start_step": 0, "end_step": 2286, "id": "WUIC25rMFdeQEa4iq4J7x"}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block from the table surface."}, {"label": "goal", "start_step": 141, "end_step": 258, "id": "77d7a4bd-9aea-4d1d-81bb-f82631a4b615"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod, pressing it down to fit properly."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the leftmost purple rod."}, {"label": "goal", "start_step": 259, "end_step": 368, "id": "9b2c872f-25a3-429b-8fe7-456f8cc8b293"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 369, "end_step": 494, "id": "8409ac3b-85a6-442b-9857-180d1048132b"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple post by aligning and inserting it."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 495, "end_step": 574, "id": "51f84792-7641-4228-a964-496dc65c7d09"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves downwards away from the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around the object."}, {"label": "goal", "start_step": 575, "end_step": 738, "id": "fb8205f8-4557-416d-878d-96ea9e1996c1"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod of the wooden rack by aligning and lowering it."}, {"label": "goal", "start_step": 739, "end_step": 910, "id": "966dd693-7c63-4999-8abb-71efc57a4cb0"}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 911, "end_step": 1092, "id": "b8165690-8ec0-4ec8-85b2-17e6f7046668"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1093, "end_step": 1176, "id": "6920b945-a336-4fd0-9ac1-424ec515124d"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the black tabletop to establish a stable grip."}, {"label": "goal", "start_step": 1177, "end_step": 1288, "id": "c689fb78-e4ff-48c5-931c-b765e8c31e92"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1289, "end_step": 1432, "id": "b48f7564-4bae-4c70-9504-f3efe2e567af"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers around the white hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1433, "end_step": 1550, "id": "c910b7c3-85b0-4223-b29c-b0762b78c5c3"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1551, "end_step": 1630, "id": "c1e15815-4cbf-44a2-a7bf-0d2b176b838e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1732, "id": "70d0f9e7-2861-44fc-ba20-a1f225e76ec0"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1733, "end_step": 1818, "id": "06957d26-12a0-4f70-a109-85f8a0de79f0"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "goal", "start_step": 1819, "end_step": 2022, "id": "0c3e238e-9fa4-46a8-b678-637c338c52d3"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring from the right desktop to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00051", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 2023, "end_step": 2098, "id": "e03e18fa-8bd8-457a-bb22-bdb4dea3e2e9"}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00052", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2099, "end_step": 2238, "id": "d2ffc1bd-77aa-42fd-bc18-70e000c85bd3"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the rightmost front white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the top of the rightmost front white bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green cube down onto the rightmost front white bottle to fix it in place."}, {"label": "home", "start_step": 2287, "end_step": 2310, "id": "KEGibm1Ald_HKddxZplej"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod, pressing it down to fit properly."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple post by aligning and inserting it."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves downwards away from the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around the object."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the black tabletop to establish a stable grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers around the white hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring from the right desktop to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00051", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00052", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the rightmost front white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the top of the rightmost front white bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green cube down onto the rightmost front white bottle to fix it in place."}], "episode_index": 57}
+{"source_uid": "5f4b95e92e22def9", "num_frames": 1910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: idle: Right hand stays empty at the right initial position with no significant displacement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "da2cc269-acbe-4518-a590-25aa1aa3936e"}, {"label": "valid", "start_step": 0, "end_step": 1884, "id": "dm-Kri0LNwt3btbB_IfNp"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves leftward and downward toward the front green hexagonal block on the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making small adjustments to fingers and wrist to establish grip contact."}, {"label": "goal", "start_step": 141, "end_step": 230, "id": "e519f8cd-7c46-46c5-a0a7-4b5522d27602"}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position it directly above the target vertical wooden peg on the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target wooden peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg of the wooden base, then opens fingers to release the block once it is supported by the peg."}, {"label": "goal", "start_step": 231, "end_step": 330, "id": "b83a6682-6be6-4854-abc7-5c26cff3ac17"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block placed on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block upward off the table surface and moves it toward the wooden peg base, holding the block securely."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "goal", "start_step": 331, "end_step": 436, "id": "559a4e47-1129-444f-adb7-19e7b04a1472"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block assembled on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white-capped green cylinder on the wooden pegboard, with fingers opening to separate from the cylinder."}, {"label": "goal", "start_step": 437, "end_step": 542, "id": "0fbeb26f-e50f-41e3-80e7-d93d13628e6b"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers closing around the nut and making slight adjustments to establish a grip."}, {"label": "goal", "start_step": 543, "end_step": 756, "id": "896b3a5b-c747-4ec8-9088-b861e4a7acd2"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the empty purple peg, adjusting its position while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple rod on the wooden assembly board, opening fingers to release the block once the block is stably supported by the rod."}, {"label": "goal", "start_step": 757, "end_step": 844, "id": "c0a9df7e-d5bb-409c-a2f1-cf2f84694fe7"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned on the table surface in front of the assembly board."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving the block completely away from the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward through the air to the position above the purple peg on the wooden assembly board."}, {"label": "goal", "start_step": 845, "end_step": 926, "id": "7c90a1c5-1412-43c4-9e15-423b866da9ce"}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple peg, fitting the nut downward onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, and releases contact with the nut."}, {"label": "goal", "start_step": 927, "end_step": 1012, "id": "48f8c231-5765-45eb-8e92-15a0be6382e3"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward empty from the wooden base area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the black table surface to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the green hexagonal nut and lifts it upward to fully separate it from the black table surface."}, {"label": "goal", "start_step": 1013, "end_step": 1104, "id": "4b746112-3849-4c73-9385-26465106e018"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the lifted green hexagonal nut and moves it to the position directly above the target vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand holds the green hexagonal nut, aligns its central hole with the target rod on the wooden base, and slides it down the rod until it rests on the existing green block below."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the assembled green hexagonal nut on the rod of the wooden base without any visible movement."}, {"label": "goal", "start_step": 1105, "end_step": 1180, "id": "f3b8cf12-d46f-4428-8bcb-0fddb8755526"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block firmly and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1181, "end_step": 1272, "id": "9e46748d-91a4-491a-a47f-a07fa9667386"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand moves the held white hexagonal block toward the wooden assembly rack, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the corresponding peg of the wooden assembly base and releases its grip to leave the block supported on the peg."}, {"label": "goal", "start_step": 1273, "end_step": 1346, "id": "f94a2a4d-2e87-41ee-b50a-d97b50347049"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers around the upper white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and transports it upward and leftward to the position above the empty mounting post on the wooden block rack."}, {"label": "goal", "start_step": 1347, "end_step": 1446, "id": "96d080c1-8369-4270-acde-cf1a9067ce7a"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden rack and lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the rack post without any visible movement of the hand or the block."}, {"label": "goal", "start_step": 1447, "end_step": 1524, "id": "b805f61f-e090-4eb8-85c0-58a2edf3ba5b"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward across the black table surface toward the small white hexagonal block resting next to the green hexagonal block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, with small visible adjustments of finger positions against the block surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 1525, "end_step": 1620, "id": "ea35239e-ce4a-482c-b119-8475d8ae6977"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the wooden rack."}, {"label": "goal", "start_step": 1621, "end_step": 1690, "id": "f13a51e6-98e9-4d21-ab2b-cc019982179b"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downwards toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the green cube on the table."}, {"label": "goal", "start_step": 1691, "end_step": 1838, "id": "e2d5479a-b477-4144-beae-6e70117fd5ba"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted green cube toward the purple rod on the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1837, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green cube fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cube, leaving the cube resting on the purple rod."}, {"label": "home", "start_step": 1885, "end_step": 1909, "id": "dPD0Ptju6y88fP7RVnxg6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: idle: Right hand stays empty at the right initial position with no significant displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves leftward and downward toward the front green hexagonal block on the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making small adjustments to fingers and wrist to establish grip contact."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position it directly above the target vertical wooden peg on the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target wooden peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg of the wooden base, then opens fingers to release the block once it is supported by the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block placed on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block upward off the table surface and moves it toward the wooden peg base, holding the block securely."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block assembled on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white-capped green cylinder on the wooden pegboard, with fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers closing around the nut and making slight adjustments to establish a grip."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the empty purple peg, adjusting its position while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple rod on the wooden assembly board, opening fingers to release the block once the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned on the table surface in front of the assembly board."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving the block completely away from the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward through the air to the position above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple peg, fitting the nut downward onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, and releases contact with the nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward empty from the wooden base area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the black table surface to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the green hexagonal nut and lifts it upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the lifted green hexagonal nut and moves it to the position directly above the target vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand holds the green hexagonal nut, aligns its central hole with the target rod on the wooden base, and slides it down the rod until it rests on the existing green block below."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the assembled green hexagonal nut on the rod of the wooden base without any visible movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block firmly and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand moves the held white hexagonal block toward the wooden assembly rack, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the corresponding peg of the wooden assembly base and releases its grip to leave the block supported on the peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers around the upper white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and transports it upward and leftward to the position above the empty mounting post on the wooden block rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden rack and lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the rack post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward across the black table surface toward the small white hexagonal block resting next to the green hexagonal block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, with small visible adjustments of finger positions against the block surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downwards toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the green cube on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted green cube toward the purple rod on the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1837, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green cube fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cube, leaving the cube resting on the purple rod."}], "episode_index": 58}
+{"source_uid": "11e12e0780ab8f0f", "num_frames": 2371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table, fingers gradually spread open from a gathered position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "4255e5db-6780-4344-8fef-1236bc590b7a"}, {"label": "valid", "start_step": 0, "end_step": 2343, "id": "HIlNPe09gjWlrzGGNnGwG"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table, fingers closing around the block."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 119, "end_step": 250, "id": "0f4b7dce-329e-4fc6-87d9-5dbdd44ee21f"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the upper position of the leftmost peg on the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost peg of the wooden rack, lowering it along the peg to fit into place."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden peg base."}, {"label": "goal", "start_step": 251, "end_step": 334, "id": "3939465a-f284-4796-bd2e-02223a8425ba"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 335, "end_step": 532, "id": "7acaa12f-bf28-4077-b2c3-16c375c19a50"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden board, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the left-front purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 533, "end_step": 612, "id": "61f47d61-11c8-4b61-976e-3152d1af3278"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal part on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal part on the table with continuous finger adjustments."}, {"label": "goal", "start_step": 613, "end_step": 748, "id": "0e57396a-de31-4324-8c3a-38a14c07c909"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the rightmost purple rod and fits it downwards onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top of the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle purple peg and releases its grip."}, {"label": "goal", "start_step": 749, "end_step": 962, "id": "006286f5-9753-43fa-a40f-a1cecbf5f8ff"}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table in front of the peg base."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it upward toward the right purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the right purple peg and releases its grip."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface beside the wooden base."}, {"label": "goal", "start_step": 963, "end_step": 1128, "id": "af1414a1-a70e-4720-ad40-a8b8af9e0c9f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple peg and slides it down onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "goal", "start_step": 1129, "end_step": 1228, "id": "93dc973f-4efe-4623-bea3-fabf3646f6e4"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table near the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1229, "end_step": 1334, "id": "5d25019f-6526-4601-b134-56f98f863651"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple peg by lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grasp."}, {"label": "goal", "start_step": 1335, "end_step": 1442, "id": "fe7160f2-1ebe-41ce-b2aa-a0625447438b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1443, "end_step": 1584, "id": "91cd082a-7ced-4e18-925a-794a6f119081"}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upwards off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and moves it downward to insert the part onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases its grip on the ring."}, {"label": "goal", "start_step": 1585, "end_step": 1662, "id": "6641c14f-73ca-42fb-8227-1bac70be66a9"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 1663, "end_step": 1818, "id": "9298b2a6-5ee9-4e42-8b1b-2f0af6cfb0e2"}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1819, "end_step": 1900, "id": "eb64432e-1e31-470b-9db9-33af4f924657"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "goal", "start_step": 1901, "end_step": 2064, "id": "a598d19a-9281-4eaa-98e1-994a3b9ee9db"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block leftward and upward to the area above the purple rod on the rightmost column of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole and adjusting the block's position on the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 2065, "end_step": 2156, "id": "cead2353-ba02-4490-a369-35bea04a591b"}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2157, "end_step": 2306, "id": "fa72f9d9-dd1a-49ed-9c06-ff66acbe42dc"}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the table surface and transports it to the position above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object with the rightmost bottle on the wooden board by aligning the hole and fitting it down onto the bottle."}, {"label": "home", "start_step": 2344, "end_step": 2370, "id": "MvmYxXgOiCh2DsxhVIYaM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table, fingers gradually spread open from a gathered position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table, fingers closing around the block."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the upper position of the leftmost peg on the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost peg of the wooden rack, lowering it along the peg to fit into place."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden board, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the left-front purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal part on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal part on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the rightmost purple rod and fits it downwards onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top of the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle purple peg and releases its grip."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table in front of the peg base."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it upward toward the right purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the right purple peg and releases its grip."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface beside the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple peg and slides it down onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table near the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple peg by lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upwards off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and moves it downward to insert the part onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block leftward and upward to the area above the purple rod on the rightmost column of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole and adjusting the block's position on the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the table surface and transports it to the position above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object with the rightmost bottle on the wooden board by aligning the hole and fitting it down onto the bottle."}], "episode_index": 59}
+{"source_uid": "655d06b93d44f7c8", "num_frames": 2025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture and slightly opens fingers at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "d4e846c9-de9a-44d9-86ba-e4ae6262152b"}, {"label": "valid", "start_step": 0, "end_step": 2000, "id": "tm0QIxCbz7Gl53CSymdvN"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 270, "id": "87bc0773-a107-4689-969b-da54b4262c95"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the leftmost purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple vertical rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple vertical rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 271, "end_step": 358, "id": "95e6ad05-7038-4ce0-9a09-97e634776ff7"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to prepare for grasping the white hollow block on the tabletop."}, {"label": "goal", "start_step": 359, "end_step": 462, "id": "5b74cead-95ed-4ae3-8738-34f32922ab4b"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper position of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "goal", "start_step": 463, "end_step": 542, "id": "6cc39f2b-3614-4dce-be93-30b09e455483"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 543, "end_step": 704, "id": "30f21d5e-fc9b-45f5-833d-2d5c70f4298c"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop in front of the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 772, "id": "eda8c597-ef8a-44bb-a876-10837c9afd1d"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it toward the purple post on the wooden base."}, {"label": "goal", "start_step": 773, "end_step": 866, "id": "832068f3-6301-4c39-81dc-866d75270e08"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post on the wooden base by aligning the hole with the post."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 867, "end_step": 974, "id": "88d85fe3-28d7-4810-8bce-d3f83c387476"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green block on the black tabletop."}, {"label": "goal", "start_step": 975, "end_step": 1092, "id": "a97ea3d3-060d-4696-93a3-c58c8796c21d"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg on the wooden rack and inserts it downwards onto the peg."}, {"label": "goal", "start_step": 1093, "end_step": 1172, "id": "e8264926-b780-411c-8a2e-166f245e114c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the rod on the wooden base."}, {"label": "goal", "start_step": 1173, "end_step": 1260, "id": "bfb8f8f4-a45f-48b4-b59b-d413810f3135"}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 1261, "end_step": 1334, "id": "dfbdb4a5-aa6e-4d8b-8c49-cf8521dd8037"}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target rod on the wooden base."}, {"label": "goal", "start_step": 1335, "end_step": 1478, "id": "a0c9fb70-bfb3-44f1-be4e-00664474cf5d"}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1479, "end_step": 1554, "id": "c912dc0c-2bce-47b4-b0c0-470eea7cb01a"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagon ring on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagon ring on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1555, "end_step": 1712, "id": "66f5801d-3a00-41e1-a5a7-722dc7d3f0f8"}, {"label": "subtasks", "start_step": 1575, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: release: Right hand releases the white block with a purple rod placed on the wooden base."}, {"label": "goal", "start_step": 1713, "end_step": 1794, "id": "4bffc494-0fd8-453b-8f0e-a437c899e9bc"}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: grasp: Right hand grasps the green cubic block on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 1795, "end_step": 1958, "id": "a9b695b2-898a-4859-aeff-ce3ef78abe3e"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white bottle with purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: release: Right hand releases the green cubic block, leaving it placed on top of the white bottle."}, {"label": "home", "start_step": 2001, "end_step": 2024, "id": "qVLvNCBKvFaHc7b2mIhIB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture and slightly opens fingers at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the leftmost purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple vertical rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple vertical rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to prepare for grasping the white hollow block on the tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper position of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post on the wooden base by aligning the hole with the post."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green block on the black tabletop."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg on the wooden rack and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the rod on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagon ring on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagon ring on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: release: Right hand releases the white block with a purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: grasp: Right hand grasps the green cubic block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white bottle with purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: release: Right hand releases the green cubic block, leaving it placed on top of the white bottle."}], "episode_index": 60}
+{"source_uid": "424706c161868243", "num_frames": 2318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand moves its fingers from the initial upward-pointing pose to a relaxed extended position while staying in the left area of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "goal", "start_step": 0, "end_step": 162, "id": "f922878d-95b0-47c0-b042-39eb4d22c897"}, {"label": "valid", "start_step": 0, "end_step": 2295, "id": "qXM1OwSLjJeqvB8nyYCBz"}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table surface, adjusting finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface, with no visible movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its gripper around the green hexagonal block resting on the black table surface adjacent to the wooden peg board to form a stable grip."}, {"label": "goal", "start_step": 163, "end_step": 272, "id": "7d880fc8-7e8b-470a-9783-639f01a6e9a1"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position the block directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg, forming the assembly connection."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg of the wooden board without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block mounted on the leftmost purple peg of the wooden block rack."}, {"label": "goal", "start_step": 273, "end_step": 358, "id": "b2880453-b17c-40da-bbfb-4f5581376133"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the purple peg and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand lowers the green hexagonal block to contact the black table surface, adjusting its position slightly to set it down."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 359, "end_step": 500, "id": "da24ce86-9df7-42bf-a68c-16a4d4415bfe"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns it with the leftmost purple peg, and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves downward to place the nut onto the purple peg of the wooden assembly, and opens fingers to release the nut once it is seated on the peg."}, {"label": "goal", "start_step": 501, "end_step": 590, "id": "5fd95dd2-cbc7-4106-9efd-c6c6916f62a4"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface below the wooden assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp_lift: Right hand closes fingers around the target white hexagonal nut on the table, adjusts finger positions to establish a stable grip, and lifts the nut upward off the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the table surface, and moves it upward to the position directly above the empty purple post on the wooden assembly block."}, {"label": "goal", "start_step": 591, "end_step": 718, "id": "6f2c62ee-4a24-4019-82bb-9937107d1f7b"}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple post, fits the nut onto the post, and slides it downward along the post."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden rack, opening fingers to release the block as the block rests stably on the rack."}, {"label": "goal", "start_step": 719, "end_step": 806, "id": "e0f375da-2700-463c-8385-7056fbc03973"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward away from the wooden rack to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to establish a hold on the block."}, {"label": "goal", "start_step": 807, "end_step": 928, "id": "2359b83d-df1e-47f2-8b30-84b8b7ec9bc2"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and toward the empty purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the target purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand moves downward to place the held white hexagonal block onto the purple peg on the wooden assembly base, until the block is fully supported by the peg."}, {"label": "goal", "start_step": 929, "end_step": 1012, "id": "90b4484a-2cde-4c78-a997-4eea61dfa01b"}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple peg, breaking contact with the block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1013, "end_step": 1144, "id": "f5504597-164c-43d9-af93-35a8e3387117"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand carries the green hexagonal block upward and toward the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts its finger positions around the green hexagonal block on the wooden assembly base to form a stable grasp."}, {"label": "goal", "start_step": 1145, "end_step": 1310, "id": "7e1b0a33-5d04-48df-a717-bc969d1719ed"}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward off its original seated position on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical post, fits the block onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and toward the wooden block assembly rack placed on the black table surface."}, {"label": "goal", "start_step": 1311, "end_step": 1468, "id": "a9f15d5c-d9d3-44a7-adab-3cc1b0c86f9d"}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the target rod on the wooden rack, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden block rack."}, {"label": "goal", "start_step": 1469, "end_step": 1548, "id": "aaf76cb2-c3bf-4831-b0a1-8f412f7febc2"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1549, "end_step": 1648, "id": "154c7da9-c8e4-4e4e-aed8-98251089cce4"}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hollow center of the white hexagonal block with the purple rod, and lowers the block to fit onto the top end of the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden peg base, breaking contact with the rod as the rod springs upward."}, {"label": "goal", "start_step": 1649, "end_step": 1898, "id": "ac248d95-efea-4fa7-8bcd-53771769278f"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty from the area near the wooden base toward the white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1710, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger positions around the nut as the nut tips over onto its side, and closes fingers to form a stable grasp on the nut while it remains on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_reorient: Right hand lifts the grasped white hexagonal nut slightly off the table surface, rotates the wrist about a quarter turn to adjust the nut's orientation so its hollow end faces upward, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily in the air above the table without visible movement of the hand, wrist, fingers or the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1899, "end_step": 2026, "id": "d41e3b84-5e18-4e51-9d8b-92e384c06607"}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, ending its grip on the block."}, {"label": "goal", "start_step": 2027, "end_step": 2110, "id": "0c6d299e-5776-477d-a4e9-8cb7a19bec2f"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves down and right toward the green cube placed on the dark table surface, remaining empty with slightly spread fingers as it approaches the cube."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers and adjusting contact points to form a grip on the cube."}, {"label": "goal", "start_step": 2111, "end_step": 2246, "id": "41c73286-cc47-455f-88ae-834c200b596f"}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward and left toward the bottle rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the white bottle and lowers it to fit onto the rod with small positional adjustments."}, {"label": "home", "start_step": 2296, "end_step": 2317, "id": "FX_VSltEdNFvGGsg2MB_R"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand moves its fingers from the initial upward-pointing pose to a relaxed extended position while staying in the left area of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table surface, adjusting finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface, with no visible movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its gripper around the green hexagonal block resting on the black table surface adjacent to the wooden peg board to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position the block directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg, forming the assembly connection."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg of the wooden board without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block mounted on the leftmost purple peg of the wooden block rack."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the purple peg and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand lowers the green hexagonal block to contact the black table surface, adjusting its position slightly to set it down."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns it with the leftmost purple peg, and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves downward to place the nut onto the purple peg of the wooden assembly, and opens fingers to release the nut once it is seated on the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface below the wooden assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp_lift: Right hand closes fingers around the target white hexagonal nut on the table, adjusts finger positions to establish a stable grip, and lifts the nut upward off the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the table surface, and moves it upward to the position directly above the empty purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple post, fits the nut onto the post, and slides it downward along the post."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden rack, opening fingers to release the block as the block rests stably on the rack."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward away from the wooden rack to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to establish a hold on the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and toward the empty purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the target purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand moves downward to place the held white hexagonal block onto the purple peg on the wooden assembly base, until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple peg, breaking contact with the block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand carries the green hexagonal block upward and toward the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts its finger positions around the green hexagonal block on the wooden assembly base to form a stable grasp."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward off its original seated position on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical post, fits the block onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and toward the wooden block assembly rack placed on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the target rod on the wooden rack, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden block rack."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hollow center of the white hexagonal block with the purple rod, and lowers the block to fit onto the top end of the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden peg base, breaking contact with the rod as the rod springs upward."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty from the area near the wooden base toward the white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1710, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger positions around the nut as the nut tips over onto its side, and closes fingers to form a stable grasp on the nut while it remains on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_reorient: Right hand lifts the grasped white hexagonal nut slightly off the table surface, rotates the wrist about a quarter turn to adjust the nut's orientation so its hollow end faces upward, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily in the air above the table without visible movement of the hand, wrist, fingers or the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, ending its grip on the block."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves down and right toward the green cube placed on the dark table surface, remaining empty with slightly spread fingers as it approaches the cube."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers and adjusting contact points to form a grip on the cube."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward and left toward the bottle rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the white bottle and lowers it to fit onto the rod with small positional adjustments."}], "episode_index": 61}
+{"source_uid": "66746eda13b5fbc3", "num_frames": 2188, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the green cube at the left front of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "a968c037-c448-4d53-8361-43b867dae49a"}, {"label": "valid", "start_step": 0, "end_step": 2163, "id": "8W_4QiHONDoDePBjYXGnE"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube at the left front of the wooden board, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube at the left front of the wooden board without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 119, "end_step": 234, "id": "4eae3b7e-7219-408a-a0c2-051651cf8a5c"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it to the upper left of the wooden peg board."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 235, "end_step": 294, "id": "3ec5dce7-75de-43ba-bdbe-392464b1e004"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 295, "end_step": 460, "id": "bcf00bfc-f015-4acc-a220-091d30a1fdaa"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the leftmost purple peg to secure it."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost purple peg, with fingers opening and moving slightly upward."}, {"label": "goal", "start_step": 461, "end_step": 554, "id": "54c13411-5c20-4bfc-99b9-8d2356401657"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 555, "end_step": 750, "id": "76932a08-5659-4da5-9d6d-59b9dc5e048c"}, {"label": "subtasks", "start_step": 585, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple rod by aligning the part's hole with the rod and lowering the part along the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 751, "end_step": 842, "id": "5de02965-5725-44b0-accc-1248f6b68fb6"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table in front of the peg board with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal part upward and leftward to mate it onto the middle purple post of the wooden rack."}, {"label": "goal", "start_step": 843, "end_step": 956, "id": "e2ef1513-f351-4c22-afe7-f07e0127631c"}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the middle purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg and releases the block."}, {"label": "goal", "start_step": 957, "end_step": 1022, "id": "093a499a-0023-4a47-95b5-4c129a3b7a97"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "goal", "start_step": 1023, "end_step": 1132, "id": "48762534-041a-485b-93e3-c40e71f8aedc"}, {"label": "subtasks", "start_step": 1035, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal ring upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the purple peg of the wooden rack, lowering and pressing it down into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, opening its fingers to separate from the ring on the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates a white hexagonal block onto a purple peg on the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 1133, "end_step": 1202, "id": "ff4410db-a92f-40c4-9271-6dfbb3f58d87"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1203, "end_step": 1336, "id": "2e5887b5-02c2-4d5d-b09c-f3a09387e7d0"}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and inserts it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost column of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1337, "end_step": 1406, "id": "f39d5338-c82f-47fb-b222-9263911bb032"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table to the right of the wooden rack, moving downward and rightward."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1407, "end_step": 1516, "id": "2cbe78f8-7f67-425f-80d9-ef8d3a02739e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, lowering the block to fit the rod through its central hole."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1517, "end_step": 1598, "id": "b8c3446f-afa1-4d87-b461-362d78854c3a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1599, "end_step": 1714, "id": "add14044-fb1b-43b8-a2d9-554617f1e36a"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it leftward and upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and nests the ring onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated cylindrical piece on the front-right purple rod of the wooden tray, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1715, "end_step": 1790, "id": "7123a926-f235-4f2e-b42d-d2f1f0acaaaf"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block with a hole on the table, moving down and right from the wooden tray area."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block with a hole on the table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the right side of the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1791, "end_step": 2118, "id": "ecf45210-131b-47e4-b7cf-2cfdb64d8922"}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 1822, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block with the front-right white peg on the wooden base, adjusting position and lowering the block to fit its hole over the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the front-right peg of the wooden base without moving."}, {"label": "home", "start_step": 2164, "end_step": 2187, "id": "gEOJHNpdTVZPEb8X2Xtxu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the green cube at the left front of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube at the left front of the wooden board, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube at the left front of the wooden board without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it to the upper left of the wooden peg board."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the leftmost purple peg to secure it."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost purple peg, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple rod by aligning the part's hole with the rod and lowering the part along the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table in front of the peg board with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal part upward and leftward to mate it onto the middle purple post of the wooden rack."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the middle purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg and releases the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal ring upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the purple peg of the wooden rack, lowering and pressing it down into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, opening its fingers to separate from the ring on the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates a white hexagonal block onto a purple peg on the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and inserts it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost column of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table to the right of the wooden rack, moving downward and rightward."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, lowering the block to fit the rod through its central hole."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it leftward and upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and nests the ring onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated cylindrical piece on the front-right purple rod of the wooden tray, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block with a hole on the table, moving down and right from the wooden tray area."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block with a hole on the table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the right side of the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 1822, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block with the front-right white peg on the wooden base, adjusting position and lowering the block to fit its hole over the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the front-right peg of the wooden base without moving."}], "episode_index": 62}
+{"source_uid": "8656dc2356e53cc3", "num_frames": 2452, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty towards the green block near the wooden base of the block set on the table."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "04cabfb1-f3f8-4878-896a-4281bd5b4b31"}, {"label": "valid", "start_step": 0, "end_step": 2427, "id": "4ffNPLjUcxDD6yAzsNoQp"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green block on the table, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the top of the purple post on the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "b4fc3064-01ae-4d34-a444-469869b125d3"}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green block with the purple post by aligning the block's hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green block down along the purple post to fix it in position."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 273, "end_step": 402, "id": "2fcc44c8-1aae-48b5-a66b-755776391c1b"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it to the top of the leftmost purple peg on the wooden rack."}, {"label": "goal", "start_step": 403, "end_step": 502, "id": "874984ad-bba2-411a-9954-3f3502c4c20a"}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden rack by inserting it downward onto the peg."}, {"label": "goal", "start_step": 503, "end_step": 578, "id": "2022bc2e-9d8a-4e05-88e1-d8d496027353"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 579, "end_step": 744, "id": "5a1d76f6-9547-4775-a0d6-72a68bfcb91d"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts the nut onto the rod."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal nut down along the leftmost purple rod to the lower position."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 745, "end_step": 804, "id": "150c3f8e-ce8f-4fe0-bc73-5d7dafad0fe1"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white ring on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the table surface."}, {"label": "goal", "start_step": 805, "end_step": 914, "id": "a3b9098c-8ad4-40a3-b700-71fb74465983"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it above the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the target purple pillar on the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 915, "end_step": 980, "id": "eedf3d00-bd28-443c-b6bb-98735b9de066"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and moves it toward the purple post on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1084, "id": "7cdc6ea0-203e-4700-add7-320b1e3db6e5"}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns and inserts the green hexagonal block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1085, "end_step": 1162, "id": "77f55b94-ddfb-4e4b-b347-182a2fb53b50"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting for stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1163, "end_step": 1326, "id": "b824fe96-bca5-416a-98dd-50754c079b19"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it stably."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward from the rack."}, {"label": "goal", "start_step": 1327, "end_step": 1380, "id": "774487e9-5933-4ea9-b467-b2b9f68d6ffb"}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1381, "end_step": 1860, "id": "48c03f79-c613-4f64-b98c-0b6e764eb2c0"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple post."}, {"label": "subtasks", "start_step": 1492, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block slightly from the purple post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block back onto the purple post."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple post to secure it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1861, "end_step": 2014, "id": "c975e0b4-30d8-4549-965a-93faebe5acff"}, {"label": "subtasks", "start_step": 1912, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "goal", "start_step": 2015, "end_step": 2166, "id": "6352d004-bb4f-44fe-84a8-113fd474c93a"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white ring from its grip after assembly."}, {"label": "goal", "start_step": 2167, "end_step": 2248, "id": "8af2260e-e3a1-4163-9837-214ab48009b7"}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the lower right of the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table by closing fingers around it."}, {"label": "goal", "start_step": 2249, "end_step": 2374, "id": "7988935a-006e-40b3-af56-5524ec8363ef"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it above the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle and fits it onto the bottle properly."}, {"label": "home", "start_step": 2428, "end_step": 2451, "id": "ZVWZbsKU__byFRI5Tqrek"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty towards the green block near the wooden base of the block set on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green block on the table, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green block with the purple post by aligning the block's hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green block down along the purple post to fix it in position."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it to the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden rack by inserting it downward onto the peg."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts the nut onto the rod."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal nut down along the leftmost purple rod to the lower position."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white ring on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it above the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the target purple pillar on the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and moves it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns and inserts the green hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting for stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it stably."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward from the rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple post."}, {"label": "subtasks", "start_step": 1492, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block slightly from the purple post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block back onto the purple post."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple post to secure it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white ring from its grip after assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the lower right of the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table by closing fingers around it."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it above the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle and fits it onto the bottle properly."}], "episode_index": 63}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_14_31_42_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_14_31_42_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d53fcd3aa1e1cfc8c90960aed55e4eb4af30f9e6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_14_31_42_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,64 @@
+{"source_uid": "337bfd7b0cb595da", "num_frames": 2571, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_and_wrist_pose: Left hand opens its fingers and rotates its wrist slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the top green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "be727c87-2673-421c-9418-e856f2ac26a3"}, {"label": "valid", "start_step": 0, "end_step": 2542, "id": "tb83XyldrDqYsi0cVLIon"}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the top green hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 155, "end_step": 336, "id": "1ccd8449-844f-4c27-be0f-ac85ff9b92f7"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg continuously."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the green block on the leftmost peg of the wooden base and releases it."}, {"label": "goal", "start_step": 337, "end_step": 444, "id": "ba01079b-61d0-4acc-8ff0-84489d7e3096"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 445, "end_step": 610, "id": "61689ca8-674f-4fea-8c6c-54fc4741bab6"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod by sliding it downward along the rod."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 611, "end_step": 758, "id": "974c2d56-5269-4ff6-a1dd-89ff3cf293d0"}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal object on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal object on the table with fingers closing."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 759, "end_step": 980, "id": "1402f49b-95a7-4ae9-b2c5-7aee142daab9"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 788, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1106, "id": "f04fc477-d4d1-4c58-9f76-8dae5a3338f1"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 1107, "end_step": 1232, "id": "8ed8f5a1-fcb5-44b6-b261-1c6796546a8d"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the middle purple peg of the wooden base, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1233, "end_step": 1366, "id": "da1887f0-b9d4-4984-8345-00b4338413aa"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1367, "end_step": 1490, "id": "a09edf4d-9181-46cb-9fff-815f5c7ec86e"}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand inserts the green hexagonal block onto the purple rod and fits it in place."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1614, "id": "0f640c85-d0c9-454d-9311-2351f9c43505"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part and reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the black table surface next to the white hexagonal part without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1615, "end_step": 1762, "id": "89a3c4b1-1c34-41b6-aa33-49af93e16ec4"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1763, "end_step": 1858, "id": "ee23b83c-1888-4e03-b413-ced0f727e11c"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "goal", "start_step": 1859, "end_step": 1990, "id": "53d4f04f-7871-40ca-a08d-fc413ce1e15a"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it down along the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring-shaped piece onto the base of the purple rod and releases it, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1991, "end_step": 2110, "id": "e3cc77be-7b77-45c5-9f71-42e434414cca"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the right side of the black table to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 2111, "end_step": 2224, "id": "486545c8-d4dd-4088-88d3-243460a865bd"}, {"label": "subtasks", "start_step": 2138, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and inserts it downward onto the rod for assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 2225, "end_step": 2332, "id": "0b04cbe6-2c91-481d-b6c3-c4823b4f72c6"}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2333, "end_step": 2490, "id": "efc4f834-bd47-4afd-8140-4f7149b5c425"}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward toward the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the rightmost bottle, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release: Right hand releases the green block fitted on the bottle, gradually opening fingers to separate from the block."}, {"label": "home", "start_step": 2543, "end_step": 2570, "id": "jvDqlIaAM5mlZTUUHfiZ3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_and_wrist_pose: Left hand opens its fingers and rotates its wrist slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the top green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the top green hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg continuously."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the green block on the leftmost peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod by sliding it downward along the rod."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal object on the table."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal object on the table with fingers closing."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 788, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the middle purple peg of the wooden base, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand inserts the green hexagonal block onto the purple rod and fits it in place."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical part and reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the black table surface next to the white hexagonal part without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it down along the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring-shaped piece onto the base of the purple rod and releases it, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow hexagonal block from the right side of the black table to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and inserts it downward onto the rod for assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward toward the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the rightmost bottle, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without moving. | Right hand: release: Right hand releases the green block fitted on the bottle, gradually opening fingers to separate from the block."}], "episode_index": 0}
+{"source_uid": "78823fee10222861", "num_frames": 2905, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 262, "id": "2b9e8494-ce37-45c7-b427-5b476d5bd8b8"}, {"label": "valid", "start_step": 0, "end_step": 2873, "id": "Uwywm4bXTajHueseTQ8q1"}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp_lift: Right hand adjusts its grasp on the green block and lifts it off the black table surface."}, {"label": "goal", "start_step": 263, "end_step": 434, "id": "3dc99a26-554b-4226-9dcc-fad4ca30edd4"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the peg to push it into the assembled position."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 435, "end_step": 550, "id": "8cda92f1-6c9a-4e89-9981-d1edd893252d"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 551, "end_step": 750, "id": "b4bee70a-7004-460a-bb49-066c4ca0b0ec"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal nut to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden rack."}, {"label": "goal", "start_step": 751, "end_step": 878, "id": "de7b6586-27f8-4eda-b848-e4b3e27026cb"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 879, "end_step": 1050, "id": "315c5383-6f92-465b-b887-d2b09d098ec2"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1051, "end_step": 1148, "id": "3b3f399a-54a9-4d85-a895-70393a51fd4e"}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1149, "end_step": 1282, "id": "f8fe6aa2-3394-492c-8bc8-aafab624971f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1283, "end_step": 1396, "id": "2b9e5fd9-7fb6-4868-a216-944df7fc7ef2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black tabletop."}, {"label": "goal", "start_step": 1397, "end_step": 1628, "id": "dcbe1a92-1f82-4cff-8992-1d98462919bd"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "goal", "start_step": 1629, "end_step": 1750, "id": "2cf9e0ca-56d6-4636-90f4-2395a13e11a6"}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white ring block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the black table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1974, "id": "58750caa-4034-4251-96a5-2059c31cef04"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the pegged wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1964, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base, adjusting and pressing to ensure proper fitting."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1975, "end_step": 2116, "id": "a8d9cfd0-84e7-4bee-a163-364c15e3b292"}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hollow block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2117, "end_step": 2224, "id": "4edaea88-a93a-464c-a975-ba973e23d384"}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hollow block onto the purple rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hollow block, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring after assembly."}, {"label": "goal", "start_step": 2225, "end_step": 2318, "id": "7962d153-b1bc-43a4-975a-4bddc4aa8d81"}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2331, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white ring on the black table surface."}, {"label": "goal", "start_step": 2319, "end_step": 2470, "id": "bce553b7-2662-4a3a-bcdb-6540416f960a"}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 2471, "end_step": 2646, "id": "72180cbd-5f5d-4984-a888-2edd9310df1d"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cubic block on the table."}, {"label": "goal", "start_step": 2647, "end_step": 2824, "id": "7cbc29be-9574-4cfc-a266-1eb87f85702d"}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white bottles on the wooden tray."}, {"label": "subtasks", "start_step": 2685, "end_step": 2737, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the protruding purple rod on the target white bottle."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green block onto the white bottle until it is stably supported by the bottle."}, {"label": "home", "start_step": 2874, "end_step": 2904, "id": "-Tk8XtW_r06XmNkQQr6cO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg base."}, {"label": "subtasks", "start_step": 98, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp_lift: Right hand adjusts its grasp on the green block and lifts it off the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the peg to push it into the assembled position."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal nut to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white ring block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the pegged wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1964, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden base, adjusting and pressing to ensure proper fitting."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hollow block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hollow block onto the purple rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hollow block, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring after assembly."}, {"label": "subtasks", "start_step": 2258, "end_step": 2271, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2331, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cubic block on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white bottles on the wooden tray."}, {"label": "subtasks", "start_step": 2685, "end_step": 2737, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the protruding purple rod on the target white bottle."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green block onto the white bottle until it is stably supported by the bottle."}], "episode_index": 1}
+{"source_uid": "3cd206b9796579da", "num_frames": 2711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: idle: Right hand stays empty at the right initial position with no obvious translational or rotational movement of the arm."}, {"label": "goal", "start_step": 0, "end_step": 190, "id": "ef1c31e5-4e78-489f-93ca-1b69f05a50cd"}, {"label": "valid", "start_step": 0, "end_step": 2682, "id": "Q_uf5CbInAPPGC8If8zav"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and left from its initial right position toward the green hexagonal block placed on the table in front of the wooden block assembly, with fingers slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block, which remains resting on the table surface throughout this segment."}, {"label": "goal", "start_step": 191, "end_step": 338, "id": "f2d65205-1e2d-4799-9192-3d386c83bd9e"}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block vertically off the table surface, moving it upward to position it directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block slightly to fit it securely onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg on the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple post of the wooden base, fingers open to release the seated block."}, {"label": "goal", "start_step": 339, "end_step": 446, "id": "f6941248-c81c-4a32-9e42-2e27220cce22"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the table with an open hand."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers gradually close and adjust to establish a grip on the block."}, {"label": "goal", "start_step": 447, "end_step": 706, "id": "53627f39-0983-44e9-8560-222dea192349"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 502, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: press: Right hand presses downward on the top surface of a white hexagonal block mounted on the leftmost purple peg of the wooden block assembly, pushing the block to seat fully onto the peg."}, {"label": "goal", "start_step": 707, "end_step": 848, "id": "3c3f35f3-69b7-4cf2-9d12-94e92fe08e35"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the scattered hexagonal blocks resting on the black table surface, approaching a target white block."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions its fingers around the target white hexagonal block on the table, closing fingers and adjusting contact points to form a grip on the block."}, {"label": "goal", "start_step": 849, "end_step": 1050, "id": "92fb8aaa-4118-48a2-9f00-1e6ef9a1779f"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and leftward to the position directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, moves the nut downward to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and slightly right from the assembly board, approaching the white hexagonal nut on the table with fingers slightly open."}, {"label": "goal", "start_step": 1051, "end_step": 1202, "id": "afbe487d-9530-40e6-b26f-a76db92c911a"}, {"label": "subtasks", "start_step": 1095, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing around the nut to form a grip."}, {"label": "goal", "start_step": 1203, "end_step": 1344, "id": "80dab40f-f158-46ae-9649-dfaeba8a612c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden peg board."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod, letting the block drop onto the wooden base."}, {"label": "goal", "start_step": 1345, "end_step": 1432, "id": "08b11f76-8d0e-4cf8-8822-1f50874f90ac"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface while empty."}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand adjusts finger positions to establish a grip on the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1433, "end_step": 1570, "id": "30bdc398-b17e-44e3-9628-e32a97f66b78"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, rotates it slightly to orient its central hole toward the upward-pointing purple peg, and transports it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1485, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the green hexagonal block toward the purple peg, making small positional and rotational adjustments to align the block's central hole with the peg and fit the block onto the peg."}, {"label": "goal", "start_step": 1571, "end_step": 1684, "id": "d75d18aa-e650-406e-9a50-05d78d565069"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface adjacent to the loose green block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip."}, {"label": "goal", "start_step": 1685, "end_step": 1820, "id": "06ef9444-030b-4b6e-9713-dbb553647f2a"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, makes slight adjustments to the nut's position and orientation, and fits the nut down onto the rod to begin assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand positions the white cylindrical block onto the purple peg of the wooden assembly base, opening fingers to separate from the block."}, {"label": "goal", "start_step": 1821, "end_step": 1916, "id": "c61f2287-6338-4bb2-8b5a-5f0c33f55d1e"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves down and toward the white hexagonal block on the dark table surface, approaching the target block with an open hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger contact positions to establish a grasp."}, {"label": "goal", "start_step": 1917, "end_step": 2084, "id": "13de46df-b507-4035-9fe7-5db61c2aea18"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical rod mounted on the wooden stand, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit it securely onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to seat the block on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 2085, "end_step": 2198, "id": "e6d97d95-3b83-4c29-905d-9c2cd7cc30aa"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table adjacent to the green square block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to make contact and adjust grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without any observable movement."}, {"label": "goal", "start_step": 2199, "end_step": 2326, "id": "924a673b-3942-49b4-972c-88703217e259"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upwards and leftwards to a position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand makes small positional and angular adjustments to the white hexagonal nut to align its central hole with the purple rod on the assembly."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady above the purple rod with no observable movement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the aligned white hexagonal nut down along the purple rod until it rests on the lower white hexagonal block, entering the assembled position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand releases the small purple cylindrical piece it is holding, opening fingers to let the piece drop onto the white capped cylinder below and breaking contact with the piece."}, {"label": "goal", "start_step": 2327, "end_step": 2490, "id": "6752940a-f7bc-4323-ace8-9cca1491e83a"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cube resting on the black table surface with fingers held slightly open."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers around the cube and adjusting positions slightly to form a stable grip while the cube stays on the table."}, {"label": "subtasks", "start_step": 2438, "end_step": 2474, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand maintains a stable grip on the green cube, keeping the cube stationary on the table surface with no visible movement of the hand, fingers or cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand moves vertically upward while gripping the green cube, lifting the cube completely off the supporting table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand holds the green cubic block on the table, lifts it completely off the table surface, moves it upward and leftward to the position above the target slot on the wooden block rack."}, {"label": "goal", "start_step": 2491, "end_step": 2636, "id": "dba7ed78-ced1-4500-87ed-c619f8e114bb"}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the white cylindrical post below, lowers the block to fit onto the post."}, {"label": "home", "start_step": 2683, "end_step": 2710, "id": "CN9o6zBr1i5YnEcJ0awNB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: idle: Right hand stays empty at the right initial position with no obvious translational or rotational movement of the arm."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and left from its initial right position toward the green hexagonal block placed on the table in front of the wooden block assembly, with fingers slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block, which remains resting on the table surface throughout this segment."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block vertically off the table surface, moving it upward to position it directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block slightly to fit it securely onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg on the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple post of the wooden base, fingers open to release the seated block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the table with an open hand."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers gradually close and adjust to establish a grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 502, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: press: Right hand presses downward on the top surface of a white hexagonal block mounted on the leftmost purple peg of the wooden block assembly, pushing the block to seat fully onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the scattered hexagonal blocks resting on the black table surface, approaching a target white block."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions its fingers around the target white hexagonal block on the table, closing fingers and adjusting contact points to form a grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and leftward to the position directly above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, moves the nut downward to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and slightly right from the assembly board, approaching the white hexagonal nut on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1095, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing around the nut to form a grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden peg board."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod, letting the block drop onto the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface while empty."}, {"label": "subtasks", "start_step": 1388, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand adjusts finger positions to establish a grip on the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, rotates it slightly to orient its central hole toward the upward-pointing purple peg, and transports it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1485, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the green hexagonal block toward the purple peg, making small positional and rotational adjustments to align the block's central hole with the peg and fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface adjacent to the loose green block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, makes slight adjustments to the nut's position and orientation, and fits the nut down onto the rod to begin assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand positions the white cylindrical block onto the purple peg of the wooden assembly base, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves down and toward the white hexagonal block on the dark table surface, approaching the target block with an open hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical rod mounted on the wooden stand, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit it securely onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to seat the block on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table adjacent to the green square block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to make contact and adjust grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without any observable movement."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upwards and leftwards to a position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand makes small positional and angular adjustments to the white hexagonal nut to align its central hole with the purple rod on the assembly."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady above the purple rod with no observable movement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand lowers the aligned white hexagonal nut down along the purple rod until it rests on the lower white hexagonal block, entering the assembled position."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: release: Right hand releases the small purple cylindrical piece it is holding, opening fingers to let the piece drop onto the white capped cylinder below and breaking contact with the piece."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cube resting on the black table surface with fingers held slightly open."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers around the cube and adjusting positions slightly to form a stable grip while the cube stays on the table."}, {"label": "subtasks", "start_step": 2438, "end_step": 2474, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: hold: Right hand maintains a stable grip on the green cube, keeping the cube stationary on the table surface with no visible movement of the hand, fingers or cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift: Right hand moves vertically upward while gripping the green cube, lifting the cube completely off the supporting table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: lift_transport: Right hand holds the green cubic block on the table, lifts it completely off the table surface, moves it upward and leftward to the position above the target slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without approaching or contacting any objects, staying mostly stationary with only minor finger adjustments at the start of the segment. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the white cylindrical post below, lowers the block to fit onto the post."}], "episode_index": 2}
+{"source_uid": "748768181557cadd", "num_frames": 2774, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the middle front peg of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 182, "id": "1cf9a60e-df07-40e7-ac10-dfb1619196e8"}, {"label": "valid", "start_step": 0, "end_step": 2739, "id": "QfYmAYRfOC3r8JI86qUQc"}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the middle front peg of the wooden rack, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upward off the middle front peg of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal piece downward and leftward to the position above the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the leftmost green hexagonal block on the table, aligning and inserting it into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 183, "end_step": 340, "id": "283bb396-f2fe-412d-a049-b92553e23590"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, adjusting its position to fit onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 341, "end_step": 454, "id": "0053d7e7-2fdc-43d8-85ab-79e2655c6e6e"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 455, "end_step": 590, "id": "6ab01723-d256-4df1-a94b-5ae2ff765af9"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it down onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 591, "end_step": 690, "id": "c7dd85e6-daf5-406c-82b2-2ba0b5ae53c5"}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the worktable."}, {"label": "subtasks", "start_step": 645, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the worktable with fingers closing and adjusting."}, {"label": "goal", "start_step": 691, "end_step": 962, "id": "e68570fe-b1ae-47b1-8e14-e5739a0c4588"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hex nut toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 963, "end_step": 1220, "id": "c3a8f62f-10c3-404a-80dc-c4b9dd93e798"}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts and transports the white ring from the table toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part from the black table surface."}, {"label": "goal", "start_step": 1221, "end_step": 1408, "id": "43183e1d-b3e0-49bf-b86d-a2993aebe1c2"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal hollow part to above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the rightmost purple rod by aligning the hole and lowering it down the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal hollow part on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal hollow piece onto the middle purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1409, "end_step": 1524, "id": "38cd1a2b-86d4-48e7-af2e-c0d0358153c0"}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal hollow piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1525, "end_step": 1646, "id": "a87b2182-6b23-40f5-952a-bed93ce2fccc"}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white ring onto the purple peg of the wooden base until the ring is supported."}, {"label": "goal", "start_step": 1647, "end_step": 1786, "id": "16027518-3bd6-45b4-b56e-96ba2fde4c41"}, {"label": "subtasks", "start_step": 1665, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table, adjusting its grip gradually."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1918, "id": "a40a8a7a-19a4-4a6e-ae8f-9922cd13a303"}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward and upward to above the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1919, "end_step": 2034, "id": "efc143ef-d7a9-43c7-9305-6335c4118010"}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2035, "end_step": 2166, "id": "f2f5e09e-53b4-48a9-9823-32eecd72ff06"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to adjust its position."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: place_release: Right hand places and releases the white ring at the bottom of the purple rod on the wooden base."}, {"label": "goal", "start_step": 2167, "end_step": 2260, "id": "866419a3-24c6-4bde-b97d-ee394b1626b8"}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around it."}, {"label": "goal", "start_step": 2261, "end_step": 2370, "id": "6a31d609-b15c-4705-92e1-ff7aa558897e"}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the top of the white bottle with purple stem on the wooden rack."}, {"label": "goal", "start_step": 2371, "end_step": 2526, "id": "46870267-ceff-4627-a951-e95b9ada6376"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the green cubic block with a hole on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp_release: Right hand grasps and releases the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2527, "end_step": 2692, "id": "8f09a08f-b918-4c57-8259-dfb9b64e26a4"}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it toward the bottle group on the middle wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2631, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple rod on the rightmost front bottle and fits the cube onto the rod."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the green cube down along the purple rod to the lower section of the bottle."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release_retreat: Right hand releases the green cube and retreats slightly from the bottle group."}, {"label": "home", "start_step": 2740, "end_step": 2773, "id": "Pk8v3YWOGSeH5Uu33VR3t"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the middle front peg of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the middle front peg of the wooden rack, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upward off the middle front peg of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal piece downward and leftward to the position above the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the leftmost green hexagonal block on the table, aligning and inserting it into the hole of the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, adjusting its position to fit onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it down onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the worktable."}, {"label": "subtasks", "start_step": 645, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the worktable with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hex nut toward the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts and transports the white ring from the table toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal hollow part to above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the rightmost purple rod by aligning the hole and lowering it down the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal hollow part on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal hollow piece onto the middle purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal hollow piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal hollow piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white ring onto the purple peg of the wooden base until the ring is supported."}, {"label": "subtasks", "start_step": 1665, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: release: Right hand opens its fingers to release the white ring on the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: other:slight_pose_adjustment: Left hand moves slightly upward and extends its fingers while staying empty. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward from the peg board toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table, adjusting its grip gradually."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward and upward to above the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to adjust its position."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: place_release: Right hand places and releases the white ring at the bottom of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod and releases the ring."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the top of the white bottle with purple stem on the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: reach: Right hand moves downward toward the green cubic block with a hole on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp_release: Right hand grasps and releases the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it toward the bottle group on the middle wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2631, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the purple rod on the rightmost front bottle and fits the cube onto the rod."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: press: Right hand presses the green cube down along the purple rod to the lower section of the bottle."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg board without moving. | Right hand: release_retreat: Right hand releases the green cube and retreats slightly from the bottle group."}], "episode_index": 3}
+{"source_uid": "347b92834a0288e1", "num_frames": 2597, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "c1233610-ed7b-4906-8516-34cedb91d0cb"}, {"label": "valid", "start_step": 0, "end_step": 2565, "id": "b-X8vpz7VyNr1NpgeIuNi"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 123, "end_step": 260, "id": "115ee816-057d-4063-84ab-83507d12f0e6"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 158, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal ring onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 261, "end_step": 486, "id": "a6a98848-8ce4-41de-be28-7cd279ad6ea6"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 487, "end_step": 610, "id": "12712cf1-ad08-4c77-94c4-8e0314d915ff"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and pushes it down to fit onto the rod."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 611, "end_step": 710, "id": "c218cf86-dbdf-4b6e-8cce-8ab3f88fae92"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 711, "end_step": 856, "id": "a6aed23f-870c-4cd0-947f-988d779604ff"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base, adjusting its position to fit properly."}, {"label": "goal", "start_step": 857, "end_step": 940, "id": "73e50772-f6e4-4e05-9ba6-34a51ca6aa29"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 941, "end_step": 1136, "id": "33f31c1f-e86c-4d8d-aef6-9ee7cfbed0f2"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly adjustment."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1216, "id": "630ba89d-a173-41e7-93ab-ff10c2300b33"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green square block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1217, "end_step": 1342, "id": "c228ea21-5f15-4b75-969a-8c51c951c2d3"}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white post on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the top of the white post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the green block down along the white post to fit it into place."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1343, "end_step": 1440, "id": "2818579d-1070-4d47-b953-9ab491f2c2b4"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats downwards from the wooden base towards the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white ring lying on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white ring upwards off the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 1441, "end_step": 1710, "id": "2ffaf039-2b69-4a72-bc92-b12c01340254"}, {"label": "subtasks", "start_step": 1462, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple rod on the wooden base and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 1711, "end_step": 1822, "id": "fcbe64b1-dc98-421f-b4bc-716d544d6006"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the upper white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white ring placed on the black table surface."}, {"label": "goal", "start_step": 1823, "end_step": 1904, "id": "de93d5fc-d4c0-4131-8af3-bf83519038a9"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the target post on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the target post on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1905, "end_step": 1988, "id": "35bec4d9-88d1-4965-bd83-04387303f556"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1989, "end_step": 2104, "id": "43677e81-5e76-4df4-9b2e-dec37432b3d5"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white ring completely off the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white ring and moves towards the wooden rack with vertical columns."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and fits the white ring onto the target vertical column on the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the front-right position of the wooden base."}, {"label": "goal", "start_step": 2105, "end_step": 2210, "id": "6043bf0c-7097-45e8-9d0e-4fe43aed3fcd"}, {"label": "subtasks", "start_step": 2130, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty towards the green block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 2211, "end_step": 2502, "id": "a2f2337e-b33d-4a46-ab87-1ddf02eedb8c"}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green cubic block towards the rightmost white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylindrical post and fits it onto the post."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green cubic block by opening its fingers."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats slightly away from the green cubic block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses down on the top of the green cubic block to secure it on the post."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats away from the green cubic block after pressing."}, {"label": "home", "start_step": 2566, "end_step": 2596, "id": "FPdPTXC-I7dSGDN7KvvkX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 158, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal ring onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and pushes it down to fit onto the rod."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly adjustment."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green square block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white post on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the top of the white post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the green block down along the white post to fit it into place."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats downwards from the wooden base towards the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white ring lying on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white ring upwards off the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple rod on the wooden base and presses it down to secure the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white ring onto the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the upper white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the target post on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the target post on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white ring completely off the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white ring and moves towards the wooden rack with vertical columns."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and fits the white ring onto the target vertical column on the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block onto the front-right position of the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty towards the green block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green cubic block towards the rightmost white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white cylindrical post and fits it onto the post."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green cubic block by opening its fingers."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats slightly away from the green cubic block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses down on the top of the green cubic block to secure it on the post."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand retreats away from the green cubic block after pressing."}], "episode_index": 4}
+{"source_uid": "da39c08874eb2f11", "num_frames": 2507, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: idle: Right hand remains empty at its initial upper right position, staying stationary without moving toward any nearby objects."}, {"label": "goal", "start_step": 0, "end_step": 158, "id": "ba0c6845-8191-4c3e-aa96-33ab0d502227"}, {"label": "valid", "start_step": 0, "end_step": 2476, "id": "n3BtZKx7gVopm6t2bJnqq"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward and leftward with open fingers, approaching the green hexagonal block placed on the black table surface directly in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, closing its fingers and making small adjustments to form a stable grip, while the block remains supported by the table surface."}, {"label": "goal", "start_step": 159, "end_step": 280, "id": "b7a8a11f-5af0-42d1-8f15-373927d00476"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, making slight adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place: Right hand lowers the held green hexagonal block onto the purple peg of the wooden assembly base until the block is fully supported by the peg."}, {"label": "goal", "start_step": 281, "end_step": 382, "id": "d0a4abb6-4e9c-464d-ac8e-eba24d292ed6"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, separating contact from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the white hexagonal block on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 383, "end_step": 506, "id": "4dd0779b-2056-42a5-890e-214f6dd63f76"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg rack, moving it to position above a purple peg."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, making small adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden base, sets it on the underlying green block, and opens fingers to release the block."}, {"label": "goal", "start_step": 507, "end_step": 594, "id": "b7f46f3d-ba2d-4cc8-a554-dd1e4a7aea09"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downwards with open fingers toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp."}, {"label": "goal", "start_step": 595, "end_step": 754, "id": "072a4643-0faa-4221-b2b9-0b21c015f15a"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and moves it upward toward the purple pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the target purple peg, making small positional adjustments to fit the nut down securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the secured white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden assembly rack, with fingers held slightly open."}, {"label": "goal", "start_step": 755, "end_step": 876, "id": "47ff09c1-df87-4f12-a93a-7b3ff08fe568"}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block a short distance upward, raising it completely off the table surface."}, {"label": "goal", "start_step": 877, "end_step": 1018, "id": "23aaef0d-f2f3-43c7-b594-0346f3009f28"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligns its central hole with the purple post, and moves the nut downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1019, "end_step": 1102, "id": "e3dc5aca-d37d-4b24-bac3-abba2f8c053c"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block."}, {"label": "goal", "start_step": 1103, "end_step": 1424, "id": "0450f614-f409-4733-99a7-fd04ec2c4e82"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, adjusts its position and orientation slightly, and fits the block down onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens fingers to release the green cylindrical block seated on the purple peg of the wooden assembly base, separating contact from the block."}, {"label": "goal", "start_step": 1425, "end_step": 1536, "id": "08a8446b-5b23-43ff-beec-ba0257803fad"}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block to form a grip with small adjustments."}, {"label": "goal", "start_step": 1537, "end_step": 1692, "id": "cd337e2a-1da9-44ab-952b-ea1c6faa3e1b"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden assembly, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to place it onto the top of the stacked green block on the wooden base, opens fingers to release the stably placed block."}, {"label": "goal", "start_step": 1693, "end_step": 1800, "id": "c2566279-f6d4-4d28-b65a-397ede2248d9"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1801, "end_step": 1908, "id": "270e6bc3-6d74-4b9e-b8ec-56a8cb0e685d"}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional and rotational adjustments to align the block's central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base, releases the block with fingers opening as the block sits stably on the base."}, {"label": "goal", "start_step": 1909, "end_step": 2046, "id": "e95436f1-33af-4464-a0e4-3b2ee578efd0"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward with an empty palm toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2039, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the white hexagonal block upward, raising it completely away from the black table surface."}, {"label": "goal", "start_step": 2047, "end_step": 2186, "id": "404ae117-5780-491c-b9d0-a93cb4cc0b61"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand transports the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden block rack, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack and moves the block downward to nest it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: press: Right hand presses the top surface of the front white cylindrical object on the wooden base with its extended index finger, applying downward pressure with slight downward movement."}, {"label": "goal", "start_step": 2187, "end_step": 2302, "id": "25336cce-2acc-4730-b00f-9982f8aeeb18"}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the table, with fingers open, approaching the target."}, {"label": "subtasks", "start_step": 2235, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions and gradually closing fingers to form a grasp, with continuous small adjustments of the wrist and fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green holed block stationary on the black table surface."}, {"label": "goal", "start_step": 2303, "end_step": 2418, "id": "346fa706-22ea-4a10-a1b8-c9572b479d6a"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green holed block fully off the table and moves the block to the position directly above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple-capped bottle and lowers the block to nest it onto the bottle top."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens the fingers to release the nested green block, separating from the block surface."}, {"label": "home", "start_step": 2477, "end_step": 2506, "id": "TlNHXdvwckYXdJGhGu_PJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: idle: Right hand remains empty at its initial upper right position, staying stationary without moving toward any nearby objects."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward and leftward with open fingers, approaching the green hexagonal block placed on the black table surface directly in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, closing its fingers and making small adjustments to form a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, making slight adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place: Right hand lowers the held green hexagonal block onto the purple peg of the wooden assembly base until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, separating contact from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the white hexagonal block on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg rack, moving it to position above a purple peg."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, making small adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden base, sets it on the underlying green block, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downwards with open fingers toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and moves it upward toward the purple pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the top of the target purple peg, making small positional adjustments to fit the nut down securely onto the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens its fingers to release the secured white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden assembly rack, with fingers held slightly open."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block a short distance upward, raising it completely off the table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligns its central hole with the purple post, and moves the nut downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, adjusts its position and orientation slightly, and fits the block down onto the rod to complete assembly alignment."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens fingers to release the green cylindrical block seated on the purple peg of the wooden assembly base, separating contact from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block to form a grip with small adjustments."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden assembly, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it to place it onto the top of the stacked green block on the wooden base, opens fingers to release the stably placed block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional and rotational adjustments to align the block's central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base, releases the block with fingers opening as the block sits stably on the base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves downward with an empty palm toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2039, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift: Right hand lifts the white hexagonal block upward, raising it completely away from the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: transport: Right hand transports the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden block rack, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack and moves the block downward to nest it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: press: Right hand presses the top surface of the front white cylindrical object on the wooden base with its extended index finger, applying downward pressure with slight downward movement."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the table, with fingers open, approaching the target."}, {"label": "subtasks", "start_step": 2235, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions and gradually closing fingers to form a grasp, with continuous small adjustments of the wrist and fingers."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: hold: Right hand holds the green holed block stationary on the black table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: lift_transport: Right hand lifts the green holed block fully off the table and moves the block to the position directly above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple-capped bottle and lowers the block to nest it onto the bottle top."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a stationary posture without contacting any objects across the entire segment. | Right hand: release: Right hand opens the fingers to release the nested green block, separating from the block surface."}], "episode_index": 5}
+{"source_uid": "bca92c25d85b5995", "num_frames": 2647, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand slightly spreads its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "9877d3e3-69d5-4673-9b47-aa05bbd3e823"}, {"label": "valid", "start_step": 0, "end_step": 2615, "id": "JoUtYRLpI3GeD1zIleIo6"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left table area, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 129, "end_step": 306, "id": "6646bdd8-793a-43a5-996b-a311b486c31a"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and aligns it to fit onto the leftmost peg of the pegboard, completing the nesting assembly."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 307, "end_step": 398, "id": "eff6b554-fc4d-4757-a51d-1178e1557a2f"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 399, "end_step": 528, "id": "fdc535ce-d4dd-4ee7-948d-9c03c2a7509d"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the tabletop to the position above the leftmost purple peg of the peg rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg by lowering the piece downward."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 529, "end_step": 616, "id": "2f9c0ae3-4415-4afa-bc07-17df1b112793"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the leftmost purple post of the rack."}, {"label": "goal", "start_step": 617, "end_step": 758, "id": "ca38918a-a61f-47e9-b9ca-cd4650ef5084"}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 759, "end_step": 860, "id": "80688707-c5f7-4e03-ab63-ba1dc5ee9be2"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 861, "end_step": 1026, "id": "e0422c6a-3b3c-43e9-a4ee-ac768943895d"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple rod of the wooden rack and inserts it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1027, "end_step": 1206, "id": "ad7daf11-d5d9-4ae9-88c2-c9093821f54f"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal piece upward off the black table surface."}, {"label": "goal", "start_step": 1207, "end_step": 1324, "id": "28b37ff1-23bf-41fc-9fe0-bd3d9bfe97a4"}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical hollow piece onto the purple peg of the wooden base and releases the piece."}, {"label": "goal", "start_step": 1325, "end_step": 1458, "id": "31f1ac0a-5478-40d3-a076-863c45e6496c"}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow piece on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1459, "end_step": 1596, "id": "c4408f32-3abc-4902-9d67-1f52572f1b58"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases the ring."}, {"label": "goal", "start_step": 1597, "end_step": 1692, "id": "b7af52cb-eaf2-4ecd-b974-dc7d232b21b1"}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1693, "end_step": 1920, "id": "124050c8-99d2-4f30-b1cc-85c7af3b9aa4"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1921, "end_step": 2034, "id": "dbb785a8-0387-4ebc-999d-376c851900f8"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 2035, "end_step": 2264, "id": "ae1a1193-5953-4e3f-b296-3fffcb4affb7"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the right of the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod of the rightmost cylinder on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 2265, "end_step": 2378, "id": "9d0497a8-31b8-47c5-8be1-cffee35fc81c"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing."}, {"label": "goal", "start_step": 2379, "end_step": 2574, "id": "0b8ac359-f769-4ab4-bdab-05e9eb16ad81"}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple-capped bottle and fits it down onto the bottle body."}, {"label": "home", "start_step": 2616, "end_step": 2646, "id": "x2e7IWTHYb3eTS3DXQLEh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand slightly spreads its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left table area, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and aligns it to fit onto the leftmost peg of the pegboard, completing the nesting assembly."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the tabletop to the position above the leftmost purple peg of the peg rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg by lowering the piece downward."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple rod of the wooden rack and inserts it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal piece upward off the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical hollow piece onto the purple peg of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow piece on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases the ring."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the right of the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod of the rightmost cylinder on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow square block from the table and transports it to above the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow square block with the purple-capped bottle and fits it down onto the bottle body."}], "episode_index": 6}
+{"source_uid": "37085ab15c387c2a", "num_frames": 2788, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod with white cap on the left front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "80f167c2-4dbc-48af-a8b2-a28089b9cc07"}, {"label": "valid", "start_step": 0, "end_step": 2759, "id": "WreuBqF0qFl0TFZqciUE3"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod with white cap, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the purple rod upwards until it completely leaves the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the purple rod downwards to the position above the green hexagonal block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the purple rod into the hole of the green hexagonal block."}, {"label": "goal", "start_step": 129, "end_step": 264, "id": "fb16d370-a4b9-4792-a96d-7dadb301bd3a"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 265, "end_step": 350, "id": "1f04a20f-1176-459c-9379-4c02535a1d26"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 351, "end_step": 474, "id": "928bbf55-130c-4cad-bf2e-f1b0752a28eb"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pushing the block down to fit onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 475, "end_step": 568, "id": "47d11102-ec0f-4518-b44d-e4aedc0e5ef0"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 569, "end_step": 758, "id": "d0971ce3-581f-4b14-8352-989d486bc881"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the rod of the wooden bracket."}, {"label": "goal", "start_step": 759, "end_step": 848, "id": "cff3abf3-6d63-43d6-b4fa-b14b5f03d41f"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 849, "end_step": 958, "id": "a3a47339-5378-412a-ba01-a5b5ddf92dbc"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_press: Right hand places the white hexagonal block onto the purple post and presses it down to fix it in position."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 959, "end_step": 1054, "id": "003f524a-f264-4aad-ab69-6102f587b059"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 1055, "end_step": 1142, "id": "968680f6-a106-45a8-83fd-bd92bf45dd3e"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg to complete the assembly."}, {"label": "goal", "start_step": 1143, "end_step": 1236, "id": "aaad489c-d2b2-4e8f-bc8d-c74437cdb8c1"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1237, "end_step": 1352, "id": "e3a2acdd-9f4a-49d9-8720-106ed6ba7b65"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and fitting it onto the peg."}, {"label": "goal", "start_step": 1353, "end_step": 1446, "id": "aea0fc25-0aaa-4098-9796-8181f12e6b05"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring on the black tabletop."}, {"label": "goal", "start_step": 1447, "end_step": 1562, "id": "7e9668b6-78f2-4de4-891e-87b73f05d943"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "goal", "start_step": 1563, "end_step": 1652, "id": "134e1c35-7c1c-478d-b210-39802b4b510e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table, adjusting fingers to form a stable grasp."}, {"label": "goal", "start_step": 1653, "end_step": 1780, "id": "f3873e01-acd6-4834-baa3-b64550680fbf"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by lowering it onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1781, "end_step": 1870, "id": "e68570f5-241f-4127-8f88-6624244d6072"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1871, "end_step": 2580, "id": "50153919-c609-4529-abd9-677f9ca0357c"}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand tries to mate the green cube onto the white pillar."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, which falls onto the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the green cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table again."}, {"label": "subtasks", "start_step": 2145, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the middle area of the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2451, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_cube_orientation: Right hand adjusts the orientation of the green cube on the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board again."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white pillar successfully."}, {"label": "home", "start_step": 2760, "end_step": 2787, "id": "KeNW-iIg_j-190Eb9OY1g"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod with white cap on the left front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod with white cap, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the purple rod upwards until it completely leaves the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the purple rod downwards to the position above the green hexagonal block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the purple rod into the hole of the green hexagonal block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pushing the block down to fit onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the rod of the wooden bracket."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_press: Right hand places the white hexagonal block onto the purple post and presses it down to fix it in position."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table, adjusting fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by lowering it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand tries to mate the green cube onto the white pillar."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube, which falls onto the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the green cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table again."}, {"label": "subtasks", "start_step": 2145, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the middle area of the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2451, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_cube_orientation: Right hand adjusts the orientation of the green cube on the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube and transports it towards the white pillar on the wooden board again."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white pillar successfully."}], "episode_index": 7}
+{"source_uid": "92d95c2e051abd75", "num_frames": 2662, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: idle: Right hand remains empty at the right side of the home position with no obvious overall position movement."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "f5f746ac-64e4-4c3e-88dd-88bab24923f3"}, {"label": "valid", "start_step": 0, "end_step": 2635, "id": "78kLH8Ce3obSG7EKwX7fD"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed on the table in front of the wooden peg board, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand contacts the front green hexagonal block on the table, with fingers closing and adjusting to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 135, "end_step": 328, "id": "1abd8534-4ca8-4041-9a62-0bef8b8c6403"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and nests it onto the purple peg on the wooden board, opens fingers to release the block on the peg."}, {"label": "goal", "start_step": 329, "end_step": 426, "id": "9faa3c08-8c92-486f-a850-c3035dbb9f58"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty from the wooden board area toward the green hexagonal block placed on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the black table surface, adjusts finger positions and gradually closes fingers around the block to establish a grasp, with the block remaining on the table."}, {"label": "goal", "start_step": 427, "end_step": 550, "id": "0019d8cb-413e-49a8-970d-0b9a0910fc4d"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg attached to the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press: Right hand presses the green block downward along the purple peg on the wooden base to seat it fully in place."}, {"label": "goal", "start_step": 551, "end_step": 632, "id": "e469f2a0-a9af-46f6-8c51-176d872823e2"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a secure grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 633, "end_step": 792, "id": "d50e1b05-0b5c-4fb0-90db-ee7dbf8d6456"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and rightward to the position above the leftmost purple peg on the light brown wooden block assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and slides the nut down the peg to establish a stable fitted assembly relation."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg of the wooden assembly without observable movement."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple post to rest on the lower stacked block, opening fingers to release contact with the stabilized block."}, {"label": "goal", "start_step": 793, "end_step": 880, "id": "dd81208b-d383-4620-a8c7-2b035473e0c5"}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 881, "end_step": 990, "id": "fd5a3c29-c9f6-401c-8d9b-76bfd1c9e832"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple rod until the nut rests stably on the lower assembly component."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: retreat: Right hand moves empty downward away from the wooden pegboard and stacked block assembly."}, {"label": "goal", "start_step": 991, "end_step": 1076, "id": "4060d98f-07ca-45da-93fb-dea2f91b4e2b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the target green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers starting to close around the block to form a grip."}, {"label": "goal", "start_step": 1077, "end_step": 1220, "id": "f546e534-a44d-49ed-ad7b-246f830eb570"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small adjustments to position the block during assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press_release: Right hand applies downward pressure to seat the green hexagonal block with a white top on the purple rod of the wooden assembly, releasing contact with the block as fingers lift away."}, {"label": "goal", "start_step": 1221, "end_step": 1308, "id": "b6e45baa-5eab-4302-a0ae-07022dd081e0"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to form a stable grip."}, {"label": "goal", "start_step": 1309, "end_step": 1448, "id": "dae65a40-ca1a-4cab-9839-9c8cdc43b006"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments as it slides the nut down to fit onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod without any visible movement or further adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to seat the nut on the purple vertical rod, and opens fingers to release the seated nut."}, {"label": "goal", "start_step": 1449, "end_step": 1556, "id": "22a2297e-7332-400e-997e-6680aaec8b73"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves diagonally downward toward the white hexagonal nut resting on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the black table surface."}, {"label": "goal", "start_step": 1557, "end_step": 1694, "id": "019a4c32-1256-43c6-bbc3-6a7f440217e9"}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the top of the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block along the rod to rest on the existing stacked blocks."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the fully seated white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and slightly rightward from the area above the stacked block assembly toward the white hollow hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 1695, "end_step": 1818, "id": "5f434426-4e8c-4e3e-81e3-ee25bbbecd3a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hollow hexagonal block on the table, making small positional adjustments of the fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: release: Right hand releases the white hexagonal block on the table beside the green block, fingers gradually open to separate from the block."}, {"label": "goal", "start_step": 1819, "end_step": 2322, "id": "7081ccc3-83cc-4748-a2be-0bc23330db7d"}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty, first lifting upward slightly then moving downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1905, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions repeatedly and closes fingers to form a stable grasp on the block, which remains on the table surface during this process."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, then transports it upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the grasped white hexagonal block to align it directly above the purple rod on the wooden rack, preparing for nesting."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal block steadily above the purple rod on the wooden rack without any obvious movement of the hand or the block."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the aligned white hexagonal block downward along the purple rod, nesting the block onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, lowers it into the corresponding hole on the wooden block rack, and releases the block once the block is supported by the rack."}, {"label": "goal", "start_step": 2323, "end_step": 2454, "id": "b29954de-2e1c-429b-9c2e-2ef908b08719"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block located on the right area of the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusts finger positions and closes fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2455, "end_step": 2582, "id": "711c342c-edb5-4e85-a80a-38d93f3bfca2"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and moves it upward to position it directly above the target vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target post and moves the block downward to nest it onto the post."}, {"label": "home", "start_step": 2636, "end_step": 2661, "id": "-5Egq_8JVZ17FdvQK3UkY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: idle: Right hand remains empty at the right side of the home position with no obvious overall position movement."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed on the table in front of the wooden peg board, remaining empty during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand contacts the front green hexagonal block on the table, with fingers closing and adjusting to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and nests it onto the purple peg on the wooden board, opens fingers to release the block on the peg."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty from the wooden board area toward the green hexagonal block placed on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the black table surface, adjusts finger positions and gradually closes fingers around the block to establish a grasp, with the block remaining on the table."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg attached to the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press: Right hand presses the green block downward along the purple peg on the wooden base to seat it fully in place."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a secure grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward and rightward to the position above the leftmost purple peg on the light brown wooden block assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and slides the nut down the peg to establish a stable fitted assembly relation."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg of the wooden assembly without observable movement."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple post to rest on the lower stacked block, opening fingers to release contact with the stabilized block."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple rod until the nut rests stably on the lower assembly component."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: retreat: Right hand moves empty downward away from the wooden pegboard and stacked block assembly."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the target green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers starting to close around the block to form a grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small adjustments to position the block during assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: press_release: Right hand applies downward pressure to seat the green hexagonal block with a white top on the purple rod of the wooden assembly, releasing contact with the block as fingers lift away."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making slight positional adjustments as it slides the nut down to fit onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod without any visible movement or further adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to seat the nut on the purple vertical rod, and opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves diagonally downward toward the white hexagonal nut resting on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the top of the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block along the rod to rest on the existing stacked blocks."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the fully seated white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves downward and slightly rightward from the area above the stacked block assembly toward the white hollow hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand closes fingers around the white hollow hexagonal block on the table, making small positional adjustments of the fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: release: Right hand releases the white hexagonal block on the table beside the green block, fingers gradually open to separate from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty, first lifting upward slightly then moving downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1905, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions repeatedly and closes fingers to form a stable grasp on the block, which remains on the table surface during this process."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, then transports it upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the grasped white hexagonal block to align it directly above the purple rod on the wooden rack, preparing for nesting."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the white hexagonal block steadily above the purple rod on the wooden rack without any obvious movement of the hand or the block."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand moves the aligned white hexagonal block downward along the purple rod, nesting the block onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, lowers it into the corresponding hole on the wooden block rack, and releases the block once the block is supported by the rack."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block located on the right area of the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusts finger positions and closes fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: hold: Right hand holds the green hollow block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and moves it upward to position it directly above the target vertical post on the wooden block stand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall position movement. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target post and moves the block downward to nest it onto the post."}], "episode_index": 8}
+{"source_uid": "1a031389d55676fc", "num_frames": 2413, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly rotates its wrist and adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "goal", "start_step": 0, "end_step": 138, "id": "b1136529-f1d4-44de-ac6e-dc2eed472838"}, {"label": "valid", "start_step": 0, "end_step": 2385, "id": "n_enCooPieez-dYWq7wzz"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the lower-left area of the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table at the lower-left area without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black worktable surface."}, {"label": "goal", "start_step": 139, "end_step": 290, "id": "a1b3d2d6-6afe-4ff3-a726-2d848cfca93a"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand moves the green block to the top of the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the leftmost purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 291, "end_step": 388, "id": "1efc0e1e-d7d1-4961-b8a4-13358c6f623a"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface in front of the pegboard."}, {"label": "goal", "start_step": 389, "end_step": 562, "id": "ef2ff9b3-f059-4c75-8b2a-18bb235eb81a"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the leftmost purple peg of the green base."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg of the stacking toy and releases it."}, {"label": "goal", "start_step": 563, "end_step": 668, "id": "5617a204-693d-4444-8d8c-87aca3a23c21"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the lower right area of the black table without moving."}, {"label": "goal", "start_step": 669, "end_step": 784, "id": "6c2607fa-026c-4611-bcb0-ef4a923e6853"}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg and releases the ring."}, {"label": "goal", "start_step": 785, "end_step": 898, "id": "6561e99a-445c-483d-9dbd-07dbf4ea3fdc"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the wooden base with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table surface and transports it toward the purple peg on the wooden base."}, {"label": "goal", "start_step": 899, "end_step": 1028, "id": "8e9caa05-f29e-4702-8edd-087232d94bed"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases it."}, {"label": "goal", "start_step": 1029, "end_step": 1146, "id": "eaf9a863-7ca8-4723-bce0-ef25ef6a8c41"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1147, "end_step": 1268, "id": "1bfb93ad-3e23-4419-8a99-9afe60345953"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1269, "end_step": 1368, "id": "7106c68f-6e5b-4c81-8f8b-3f556ec7f782"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and moves it towards the wooden peg board."}, {"label": "goal", "start_step": 1369, "end_step": 1632, "id": "997368ba-e005-4304-b299-948184095804"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the target peg of the wooden board by aligning its central hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1432, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece stationary on the peg of the wooden board."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers to separate from the piece."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the wooden peg board while empty."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the green peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1633, "end_step": 1752, "id": "6d12bb9a-0a11-4262-95dd-9216b920eeab"}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1753, "end_step": 1892, "id": "80dcae2b-f0e6-47ea-9965-e0aa47a52291"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1893, "end_step": 1992, "id": "d95aa7de-96d6-4d6b-ac31-18617242536f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "goal", "start_step": 1993, "end_step": 2114, "id": "014dea1d-6072-461a-9a18-c9a6912c47c3"}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden block, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 2115, "end_step": 2210, "id": "7ba0424e-f403-4409-9eef-ca95121b2c1d"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green block on the table, approaching the target block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block from the black workbench surface."}, {"label": "goal", "start_step": 2211, "end_step": 2334, "id": "08bd83bf-4c87-443b-a7be-4b3acab86ba7"}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block toward the front-right peg of the wooden rack."}, {"label": "subtasks", "start_step": 2258, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the front-right peg of the wooden rack by aligning the hole and lowering it."}, {"label": "home", "start_step": 2386, "end_step": 2412, "id": "R-xawKPOVkkHzfYPeKGGd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly rotates its wrist and adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block at the lower-left area of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the lower-left area of the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table at the lower-left area without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black worktable surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand moves the green block to the top of the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the leftmost purple peg of the green base."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg of the stacking toy and releases it."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the lower right area of the black table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 772, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg and releases the ring."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table in front of the wooden base with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and moves it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the target peg of the wooden board by aligning its central hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1432, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece stationary on the peg of the wooden board."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers to separate from the piece."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the wooden peg board while empty."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the green peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden block, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green block on the table, approaching the target block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block from the black workbench surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2257, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block toward the front-right peg of the wooden rack."}, {"label": "subtasks", "start_step": 2258, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the front-right peg of the wooden rack by aligning the hole and lowering it."}], "episode_index": 9}
+{"source_uid": "8519c3a137bb1e17", "num_frames": 2318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "8da242ac-ee9a-4e76-8dd6-90a35b6da2ee"}, {"label": "valid", "start_step": 0, "end_step": 2293, "id": "h3uJ64G-KLDB_cr8hkcaJ"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 143, "end_step": 232, "id": "7cb2cbab-47da-455b-9ad3-1c565b46726c"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the purple pole on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple pole by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple pillar of the wooden base."}, {"label": "goal", "start_step": 233, "end_step": 326, "id": "de302311-13b4-418a-941c-6218a3246907"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 327, "end_step": 504, "id": "e5688a00-547a-4511-bfdb-7ce0c2941d30"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal workpiece from the tabletop and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal workpiece with the purple rod by aligning the central hole of the workpiece with the rod and inserting it downwards."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal workpiece downwards along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 505, "end_step": 682, "id": "cd1a59b1-262b-4eb3-b6c7-74b2b59dd3ff"}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 683, "end_step": 828, "id": "fc48cc34-cfde-4178-b6db-ec1b1faa9222"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 829, "end_step": 922, "id": "6ff239f4-218a-4864-b8c5-aceb162d2d01"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 923, "end_step": 1006, "id": "85bc31e8-65d6-4f48-a416-9983d83637d4"}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1011, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly from the wooden rack area after releasing the block."}, {"label": "goal", "start_step": 1007, "end_step": 1098, "id": "51a4ef02-3f59-496e-8209-0f671f5bf4cd"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white annular block on the purple post of the wooden base downward to secure it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green annular block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green annular block on the tabletop."}, {"label": "goal", "start_step": 1099, "end_step": 1206, "id": "e3f9b50a-2a59-463f-b97e-05e0c75d42fa"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upwards away from the green hexagonal block and the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1366, "id": "e72e82e5-05df-468d-8387-cf5ceca239dd"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers with slight opening and closing movements to grasp and stabilize the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1367, "end_step": 1508, "id": "b1ee219c-722c-4ba7-a43f-5ab674154b9d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1509, "end_step": 1608, "id": "27657eb0-ced7-4621-a149-e44ba359b9d8"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "goal", "start_step": 1609, "end_step": 1806, "id": "60fde12a-81e2-48db-bf3a-8b15e80b76d1"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 1807, "end_step": 1900, "id": "ecd20463-572c-4027-9284-2e00925ab1cf"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downwards and rightwards away from the purple rod towards the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal ring on the black table and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1901, "end_step": 2028, "id": "63527332-0183-470e-83b8-ce4b8d05f3ec"}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2029, "end_step": 2114, "id": "2b51a5b1-0130-4dbb-a3db-df4ac9c85be8"}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green hollow block on the table surface and starts to grasp it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green square block on the black table."}, {"label": "goal", "start_step": 2115, "end_step": 2246, "id": "a1e7de57-99f3-40ed-ad83-94d0e0fe924d"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple-capped bottle and fits it onto the bottle."}, {"label": "home", "start_step": 2294, "end_step": 2317, "id": "EZQoft-2ssqEfaeT2cpiY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the purple pole on the wooden rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple pole by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple pillar of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal workpiece from the tabletop and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal workpiece with the purple rod by aligning the central hole of the workpiece with the rod and inserting it downwards."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal workpiece downwards along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1011, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly from the wooden rack area after releasing the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white annular block on the purple post of the wooden base downward to secure it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green annular block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green annular block on the tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upwards away from the green hexagonal block and the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers with slight opening and closing movements to grasp and stabilize the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downwards and rightwards away from the purple rod towards the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal ring on the black table and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the green hollow block on the table surface and starts to grasp it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the purple-capped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple-capped bottle and fits it onto the bottle."}], "episode_index": 10}
+{"source_uid": "d8b02a70bb7069e6", "num_frames": 2245, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial upward-extended position back to the left home position, rotating the wrist slightly forward and curling fingers into a relaxed resting posture. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "goal", "start_step": 0, "end_step": 172, "id": "9b4bf95c-b586-47d0-9cc4-da15dcb57202"}, {"label": "valid", "start_step": 0, "end_step": 2218, "id": "rXjFjZpJOG-5aXBbUjjQA"}, {"label": "subtasks", "start_step": 38, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface, fingers close around the block and adjust contact positions to establish a stable grip, with the block remaining supported by the table throughout the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward away from the black table surface."}, {"label": "goal", "start_step": 173, "end_step": 292, "id": "8002f731-dc3d-4cd8-b1e1-b7ba95d77088"}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green block upward and horizontally to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green block seated on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden base until the block is fully supported by the peg, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 293, "end_step": 392, "id": "8407ed5e-0a46-4c0b-b8f4-5c1cac9a1a1a"}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, making contact with the block while adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 393, "end_step": 542, "id": "66613def-bfb4-43fc-9d51-c7f4dadfa5d5"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the wooden assembly rack, moving it directly above the target purple vertical peg."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moves the nut downward to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty downwards away from the wooden pegboard assembly area."}, {"label": "goal", "start_step": 543, "end_step": 624, "id": "52936958-3d80-4180-85ff-5a0211de8040"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty towards the front-left white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front-left white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 625, "end_step": 838, "id": "e4ff7f02-5fe0-4555-a6f1-316613e914a3"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden block rack toward the white hexagonal block on the table surface in front of the rack, with fingers slightly open."}, {"label": "goal", "start_step": 839, "end_step": 926, "id": "1b4eaff2-0308-48bd-b608-e3de39796e09"}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the table, adjusting finger positions to establish contact with the block."}, {"label": "goal", "start_step": 927, "end_step": 1032, "id": "aa6ef0e0-b8c2-4e30-acd2-09369077bf55"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack, making small position adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly base and releases the block as fingers open."}, {"label": "goal", "start_step": 1033, "end_step": 1140, "id": "cef30879-2860-4a49-8c64-ba425f66734d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the assembly base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block on the black table surface, with slight finger movements to stabilize contact."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1256, "id": "a111135b-4f67-4232-8247-51424b851207"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and rightward to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, positions it onto the vertical peg of the wooden base to be supported by stacked blocks, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1257, "end_step": 1360, "id": "51b94b84-c5ca-4152-afdd-d657beb3494b"}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the resting green hexagonal block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers close and adjust around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block near the green block on the table surface without observable movement."}, {"label": "goal", "start_step": 1361, "end_step": 1502, "id": "ba77c455-f5e2-4e30-a667-396097e3c012"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and forward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block along the purple rod until it rests stably on the green block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the green block without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, fingers open to release grip on the block."}, {"label": "goal", "start_step": 1503, "end_step": 1616, "id": "1709e5c2-55cd-41e3-b5e1-f646dbe7b46a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, detaching the nut from the table support."}, {"label": "goal", "start_step": 1617, "end_step": 1760, "id": "2c428de1-c7f5-4f8f-8d80-f9aa7173122f"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden block assembly, moving the nut through the air to the position above the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, moving the nut downward to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal piece positioned on the purple rod."}, {"label": "goal", "start_step": 1761, "end_step": 1838, "id": "95d9e38a-af15-4e44-9396-3d9099547375"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact with and grasp the loose white hexagonal piece on the dark table surface."}, {"label": "goal", "start_step": 1839, "end_step": 1952, "id": "e2e366e3-91a4-40bb-ae9c-fcfa174c48e2"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the purple rod mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical piece, places it onto the purple post on the wooden block tray, and opens fingers to release the piece."}, {"label": "goal", "start_step": 1953, "end_step": 2040, "id": "be67525d-99a3-4cfd-b2ee-6f74c827d384"}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green cubic object resting on the black table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic object, with minor finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the small green block resting on the dark table surface and lifts it upward until the block fully separates from the table."}, {"label": "goal", "start_step": 2041, "end_step": 2172, "id": "d8b0de69-b79a-49e7-940c-e7e214c977a1"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted small green block upward and leftward toward the position directly above the purple-capped cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the small green block with the top of the purple-capped cylinder, making slight positional adjustments to fit the block onto the cylinder top for nested assembly."}, {"label": "home", "start_step": 2219, "end_step": 2244, "id": "LNCnjqBdNqDUAv110XHAc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial upward-extended position back to the left home position, rotating the wrist slightly forward and curling fingers into a relaxed resting posture. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 38, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from the initial right-side raised position toward the green hexagonal block resting on the table in front of the central wooden peg board, adjusting finger posture to pass through gaps between the purple pegs on the board as it moves downward toward the target, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface, fingers close around the block and adjust contact positions to establish a stable grip, with the block remaining supported by the table throughout the segment."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward away from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green block upward and horizontally to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green block seated on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden base until the block is fully supported by the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, making contact with the block while adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white hexagonal nut resting on the black table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut backward toward the wooden assembly rack, moving it directly above the target purple vertical peg."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moves the nut downward to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty downwards away from the wooden pegboard assembly area."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty towards the front-left white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front-left white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden block rack toward the white hexagonal block on the table surface in front of the rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the table, adjusting finger positions to establish contact with the block."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack, making small position adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly base and releases the block as fingers open."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the assembly base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block on the black table surface, with slight finger movements to stabilize contact."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and rightward to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, positions it onto the vertical peg of the wooden base to be supported by stacked blocks, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the resting green hexagonal block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers close and adjust around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block near the green block on the table surface without observable movement."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and forward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block along the purple rod until it rests stably on the green block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the green block without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, fingers open to release grip on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, detaching the nut from the table support."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden block assembly, moving the nut through the air to the position above the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, moving the nut downward to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal piece positioned on the purple rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers to make contact with and grasp the loose white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the purple rod mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical piece, places it onto the purple post on the wooden block tray, and opens fingers to release the piece."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green cubic object resting on the black table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic object, with minor finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the small green block resting on the dark table surface and lifts it upward until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted small green block upward and leftward toward the position directly above the purple-capped cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with relaxed curled fingers, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the small green block with the top of the purple-capped cylinder, making slight positional adjustments to fit the block onto the cylinder top for nested assembly."}], "episode_index": 11}
+{"source_uid": "d3bf9234f7a793f5", "num_frames": 2463, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:flex_fingers: Left hand stays at the left side of the table, with fingers gradually flexing from an extended posture. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "7eb39651-309f-4870-a756-7129ea25f35a"}, {"label": "valid", "start_step": 0, "end_step": 2435, "id": "Yysq9NdQEVaChwEXFBZdW"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower area of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 141, "end_step": 282, "id": "bdf2cd52-57c9-46d9-b72d-bff2e1e0cff6"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the rack by moving it downward."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases it."}, {"label": "goal", "start_step": 283, "end_step": 366, "id": "8d3827ca-424b-4ecd-810e-7ddaca88f3ce"}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 367, "end_step": 514, "id": "3ec5c04f-298c-4fc4-87e1-e9cadddd06cb"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the wooden rack, sliding the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden pegboard and releases the part."}, {"label": "goal", "start_step": 515, "end_step": 612, "id": "de363a70-c94f-42d5-9182-222fa8b0279b"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "goal", "start_step": 613, "end_step": 760, "id": "d0a9084d-d093-4aa8-843f-56ceabcf95ce"}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring with the leftmost purple peg by fitting the ring onto the peg."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal ring down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 761, "end_step": 1022, "id": "e2238b67-66a2-4711-9ac6-0583e2a41794"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting repeatedly to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the table."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward toward the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple peg and fits the block onto the bottom of the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:slide_block_up_peg: Right hand slides the white hexagonal block upward along the front purple peg while holding the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1023, "end_step": 1188, "id": "86c224b2-913f-4f64-a4dc-628b75daeab3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical ring onto the rightmost purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1189, "end_step": 1358, "id": "d72eb691-d63a-4b87-bccc-c4ab9a25b0fa"}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and leftward, reaching toward the left green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the left green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the left green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1359, "end_step": 1496, "id": "5230aaf8-7653-4810-a420-4b4624749818"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press_release: Right hand presses the green and white block down along the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1497, "end_step": 1604, "id": "b7da8abf-e9e5-41be-9650-a143336cae16"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1605, "end_step": 1744, "id": "dc44a208-30a6-4db2-b1e0-0e7f69b7f124"}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, fingers gradually open and separate from the ring."}, {"label": "goal", "start_step": 1745, "end_step": 1844, "id": "19c8f382-fc44-484f-b1e3-09178178e3e2"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, fingers closing around the object to adjust the grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal ring upward and leftward to the position right above the purple peg."}, {"label": "goal", "start_step": 1845, "end_step": 1948, "id": "e42182df-d782-4294-af32-ee8e7ea172bd"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white hexagonal ring down onto the purple peg to form an assembly relation."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the purple vertical rod on the wooden base and releases the piece."}, {"label": "goal", "start_step": 1949, "end_step": 2034, "id": "b9f56a7e-1b8f-46e3-8998-baf3ddcdf52c"}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 2035, "end_step": 2158, "id": "ceea21d3-dab1-4293-9a53-d7e8d0f98714"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the rightmost cylindrical peg on the wooden base."}, {"label": "goal", "start_step": 2159, "end_step": 2248, "id": "c475f0d4-ad2a-4700-ae32-e879615df992"}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the rightmost cylindrical peg, with fingers opening."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers closing and adjusting."}, {"label": "goal", "start_step": 2249, "end_step": 2372, "id": "57ea6389-45e9-4515-9b96-5f7f1bc403c3"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the rightmost white column by fitting its central hole onto the column until the block rests at the bottom of the column."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green cubic block by opening its fingers and separating from the block."}, {"label": "home", "start_step": 2436, "end_step": 2462, "id": "awA4b7R-R3VterOFyTv7O"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:flex_fingers: Left hand stays at the left side of the table, with fingers gradually flexing from an extended posture. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left lower area of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower area of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the rack by moving it downward."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases it."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left peg of the wooden rack, sliding the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden pegboard and releases the part."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring with the leftmost purple peg by fitting the ring onto the peg."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal ring down along the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting repeatedly to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the table."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward toward the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple peg and fits the block onto the bottom of the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:slide_block_up_peg: Right hand slides the white hexagonal block upward along the front purple peg while holding the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white cylindrical ring onto the rightmost purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and leftward, reaching toward the left green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the left green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the left green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the peg of the wooden rack, aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press_release: Right hand presses the green and white block down along the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, fingers gradually open and separate from the ring."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, fingers closing around the object to adjust the grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal ring upward and leftward to the position right above the purple peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white hexagonal ring down onto the purple peg to form an assembly relation."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal ring on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the purple vertical rod on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the rightmost cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the rightmost cylindrical peg, with fingers opening."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the rightmost white column by fitting its central hole onto the column until the block rests at the bottom of the column."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green cubic block by opening its fingers and separating from the block."}], "episode_index": 12}
+{"source_uid": "a904828ac8ac231a", "num_frames": 3011, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed at the lower left of the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "497aa2a1-b508-4f8a-8dbe-885fa278034f"}, {"label": "valid", "start_step": 0, "end_step": 2981, "id": "4j689VM2I-4M6ubhDBsU4"}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 149, "end_step": 302, "id": "305a2481-3b01-4e6e-bef1-da6fb30062a6"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green block upwards to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block downwards along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block, separating fingers from the block."}, {"label": "goal", "start_step": 303, "end_step": 406, "id": "1ec0b203-ed6a-4a0c-8557-8439761d78f3"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the green block on the table."}, {"label": "goal", "start_step": 407, "end_step": 544, "id": "3d2e9d0f-8946-4fd7-a522-391b14c85eb1"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to fully fit onto the rod."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod of the wooden assembly base."}, {"label": "goal", "start_step": 545, "end_step": 652, "id": "66da3aa4-7a00-494a-a2cc-170598ca9f4b"}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it towards the wooden rack with purple rods."}, {"label": "goal", "start_step": 653, "end_step": 812, "id": "4b215b46-6d1f-4aed-9990-8d1b0e2b84b1"}, {"label": "subtasks", "start_step": 682, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 813, "end_step": 908, "id": "dd92ef84-74d2-4f4a-81e0-67bb111d914d"}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 909, "end_step": 1050, "id": "cf2a0181-95e9-479b-a144-d84db0b54d12"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white cylindrical block onto the purple rod on the wooden base until it is properly positioned."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1051, "end_step": 1142, "id": "7369deae-ae08-4a9e-8873-dc2559bc82c9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1143, "end_step": 1268, "id": "220019bb-fbfd-450d-90ef-eaaa0532b25b"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod on the wooden base, adjusting to fit it properly."}, {"label": "goal", "start_step": 1269, "end_step": 1378, "id": "afb96a62-d920-44aa-82bb-5c8e0c8db63d"}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1379, "end_step": 1490, "id": "87325dc0-218c-448d-b24c-fbfe7a979df8"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1602, "id": "ba12f1b5-7d1c-4775-9c17-f0cff88c6bd7"}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "goal", "start_step": 1603, "end_step": 1708, "id": "058f1cc5-840e-4638-beed-b3da40696f14"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 1709, "end_step": 1798, "id": "4350e358-cfe7-4589-bea6-a1824485f28d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1799, "end_step": 2638, "id": "bd5a010e-ec45-4d78-a512-2df2ede68620"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block, which falls onto the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the black table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2391, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats slightly from the white hexagonal block to adjust its position."}, {"label": "subtasks", "start_step": 2392, "end_step": 2504, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table again."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2624, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2639, "end_step": 2738, "id": "640136bb-9f6d-4543-94d1-1d0d5a24421d"}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2739, "end_step": 2936, "id": "b3f69438-8b05-41de-a271-41840c9f7cfc"}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it towards the white cylinder with purple core on the wooden base."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the white cylinder with purple core on the wooden base to fit it onto the cylinder."}, {"label": "subtasks", "start_step": 2858, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the white cylinder with purple core until it is fully fitted."}, {"label": "subtasks", "start_step": 2932, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block fitted on the white cylinder."}, {"label": "home", "start_step": 2982, "end_step": 3010, "id": "82WhwxkPE80UG5lY-cdn4"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed at the lower left of the wooden base on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green block upwards to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block downwards along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block, separating fingers from the block."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the green block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to fully fit onto the rod."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod of the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 682, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white cylindrical block onto the purple rod on the wooden base until it is properly positioned."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1297, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white ring on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block, which falls onto the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the black table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2391, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats slightly from the white hexagonal block to adjust its position."}, {"label": "subtasks", "start_step": 2392, "end_step": 2504, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table again."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2624, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black table and moves it towards the white cylinder with purple core on the wooden base."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the white cylinder with purple core on the wooden base to fit it onto the cylinder."}, {"label": "subtasks", "start_step": 2858, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the white cylinder with purple core until it is fully fitted."}, {"label": "subtasks", "start_step": 2932, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block fitted on the white cylinder."}], "episode_index": 13}
+{"source_uid": "bf5aca58627f50fb", "num_frames": 2470, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers held slightly open as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "d03d8289-a359-47ea-8b60-168019742e49"}, {"label": "valid", "start_step": 0, "end_step": 2445, "id": "BmG4xuZoH8CCF_idKovhO"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table surface, making small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the green block on the black table surface, lifts it upward away from the table, and moves it to a position directly above the target purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 153, "end_step": 392, "id": "2fb34724-00aa-424e-9b91-ee9b1d00f4e8"}, {"label": "subtasks", "start_step": 180, "end_step": 389, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand makes small continuous adjustments with fingers and wrist to align the green block's central hole with the purple peg, nesting the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand sets a white hexagonal block onto the purple rod of the wooden stand, releasing its grip once the block is stably supported by the rod."}, {"label": "goal", "start_step": 393, "end_step": 480, "id": "6fc1de44-b5d1-4356-8c2b-b759ddb6e84a"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to form a stable grip."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 481, "end_step": 638, "id": "d9d1329a-6bbd-4054-856d-a5e6e8d69401"}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the left purple rod, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the left purple rod without any observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg of the wooden pegboard, with fingers opening to disengage from the block."}, {"label": "goal", "start_step": 639, "end_step": 740, "id": "ae0fd9fb-90d3-4285-965b-f0db9f3cc6c8"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, adjusting finger contact points slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table surface until the block is completely off the table."}, {"label": "goal", "start_step": 741, "end_step": 878, "id": "1568aaa9-3513-48c5-9381-113f02cb26f8"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg rack, positioning the block above the target purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, makes slight orientation adjustments to the block, and lowers the block to slide it down the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden pegboard, fingers open to separate from the block."}, {"label": "goal", "start_step": 879, "end_step": 986, "id": "72686ef8-b560-4236-b69c-4f5f4c057f48"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface in front of the pegboard, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand contacts the top surface of the white hexagonal block on the table, fingers close and adjust contact positions to form a grip on the block."}, {"label": "goal", "start_step": 987, "end_step": 1150, "id": "0c0dc6c7-f190-42fb-9a20-1233f9b13a74"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the purple post below, and moves the block downward to fit onto the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the middle purple peg of the wooden pegboard, opens fingers to release the block and separate from the block surface."}, {"label": "goal", "start_step": 1151, "end_step": 1230, "id": "e9e7b124-c63a-4747-9e0b-d3ed1e2eba16"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the front-left green hexagonal block resting on the black table surface, fingers held slightly open, approaching the block without contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusts finger contact positions to establish a secure hold on the block."}, {"label": "goal", "start_step": 1231, "end_step": 1342, "id": "3bf4973c-1e6a-487c-9e56-a65a1eaad3d1"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: press: Right hand applies downward pressure on the green hexagonal block mounted on the purple peg of the wooden base, pressing the block down to a secured position."}, {"label": "goal", "start_step": 1343, "end_step": 1442, "id": "7225e655-49f8-4029-82db-b1f9da34d612"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table surface to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table support surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the black table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1443, "end_step": 1616, "id": "fcd31666-6765-4cd9-9a4c-3b604170a8f0"}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward to sleeve it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block sleeved on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening to loosen grip until the grip is released."}, {"label": "goal", "start_step": 1617, "end_step": 1770, "id": "dc2b1c76-4e8a-4991-9937-1ff64dbf2d11"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the closest white hexagonal block on the black table while remaining empty."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and toward the wooden pegboard, stopping directly above the purple vertical peg."}, {"label": "goal", "start_step": 1771, "end_step": 1898, "id": "1d2cceed-f0e5-4c25-ae13-4a77d1d0b1b6"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand lowers the white hexagonal block, aligns its central hole with the purple vertical peg, and fits the block onto the top of the existing stack on the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden pegboard without any movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden stand, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 1899, "end_step": 1992, "id": "564548d3-ee07-41b8-a36b-3d98fbaf2385"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1993, "end_step": 2148, "id": "e1893c1f-9f5a-45fb-9402-e58b909776cb"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward to fully raise it off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand transports the lifted white hexagonal nut horizontally toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod, slides it down the rod to complete assembly, opens fingers to release the nut onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block positioned on the purple post of the wooden base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 2149, "end_step": 2232, "id": "51920e5e-7b77-4ec2-b259-14b1fd4646bf"}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting contact positions to form a grasp."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand grips the green square block resting on the dark table surface and lifts the block upward until it fully separates from the table surface."}, {"label": "goal", "start_step": 2233, "end_step": 2376, "id": "2140b19d-8c59-4fa7-b0e4-5c1b1e925d27"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted green square block through the air toward the white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green square block with the target white cylindrical post, adjusting position to fit the block onto the post."}, {"label": "home", "start_step": 2446, "end_step": 2469, "id": "rdL15vHGDPjqa5o8Upfd9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table surface, making small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the green block on the black table surface, lifts it upward away from the table, and moves it to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 389, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand makes small continuous adjustments with fingers and wrist to align the green block's central hole with the purple peg, nesting the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand sets a white hexagonal block onto the purple rod of the wooden stand, releasing its grip once the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to form a stable grip."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the left purple rod, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the left purple rod without any observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg of the wooden pegboard, with fingers opening to disengage from the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, adjusting finger contact points slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table surface until the block is completely off the table."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg rack, positioning the block above the target purple peg."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, makes slight orientation adjustments to the block, and lowers the block to slide it down the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden pegboard, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface in front of the pegboard, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand contacts the top surface of the white hexagonal block on the table, fingers close and adjust contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the purple post below, and moves the block downward to fit onto the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the middle purple peg of the wooden pegboard, opens fingers to release the block and separate from the block surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the front-left green hexagonal block resting on the black table surface, fingers held slightly open, approaching the block without contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusts finger contact positions to establish a secure hold on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: press: Right hand applies downward pressure on the green hexagonal block mounted on the purple peg of the wooden base, pressing the block down to a secured position."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table surface to form a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table support surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the black table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward to sleeve it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block sleeved on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening to loosen grip until the grip is released."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the closest white hexagonal block on the black table while remaining empty."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table, closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and toward the wooden pegboard, stopping directly above the purple vertical peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand lowers the white hexagonal block, aligns its central hole with the purple vertical peg, and fits the block onto the top of the existing stack on the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden pegboard without any movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden stand, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward to fully raise it off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand transports the lifted white hexagonal nut horizontally toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod, slides it down the rod to complete assembly, opens fingers to release the nut onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: release: Right hand releases the white cylindrical block positioned on the purple post of the wooden base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting contact positions to form a grasp."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: lift: Right hand grips the green square block resting on the dark table surface and lifts the block upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: transport: Right hand carries the lifted green square block through the air toward the white cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green square block with the target white cylindrical post, adjusting position to fit the block onto the post."}], "episode_index": 14}
+{"source_uid": "78886b1c88e58c4f", "num_frames": 2232, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block located in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "df8062ba-f83c-4b5c-a6c3-3e6562782c34"}, {"label": "valid", "start_step": 0, "end_step": 2205, "id": "n51wlMaYCiSKTCJ5kG4wo"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes minor adjustments to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block stably without any observable movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple pillar on the wooden base."}, {"label": "goal", "start_step": 135, "end_step": 288, "id": "d76b6698-9054-4969-b915-fa2b4289441d"}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar, presses it downward to mate the block onto the pillar."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 289, "end_step": 392, "id": "28f090c7-f0e2-4b20-bee4-ef9888b17516"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it to above the left front purple peg on the wooden base."}, {"label": "goal", "start_step": 393, "end_step": 502, "id": "abce009a-5c4b-429f-a4ce-db444de77d3e"}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the left front purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white annular block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 503, "end_step": 594, "id": "6da6f5fd-1cf1-4725-abda-9c101902be6c"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish stable grip."}, {"label": "goal", "start_step": 595, "end_step": 710, "id": "6f245431-b6ed-4065-a7bf-0a23151a5c29"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 711, "end_step": 802, "id": "51ce9c62-f1f9-4fe4-9077-a7ac082640bf"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 803, "end_step": 896, "id": "c3f3fdb1-59bc-4ca5-8124-078f20ecdc72"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical post by aligning its central hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical post without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 897, "end_step": 1006, "id": "b422b8f1-cc0b-46c6-8675-03be9eaf966a"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1007, "end_step": 1114, "id": "6f38747e-15f4-466a-b4d8-b36852f34d64"}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "goal", "start_step": 1115, "end_step": 1236, "id": "7ae2638b-35b8-4b66-92d7-73c852f99d92"}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1237, "end_step": 1356, "id": "79027039-803a-49b8-a205-d0ce8c2c2f1e"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1357, "end_step": 1448, "id": "e33c2217-2924-46f1-824e-2bfeafbc5524"}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1449, "end_step": 1546, "id": "60fca84a-e50e-484f-bcb0-ff37183e7ea3"}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving downward until the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1547, "end_step": 1772, "id": "f28fd280-d181-469a-a300-714bad725289"}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, without touching the block yet."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal block slightly to adjust its orientation, the block's position keeps almost unchanged."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1773, "end_step": 1902, "id": "aff6a6cc-6193-4178-94e9-3637e384da4d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1903, "end_step": 2014, "id": "b3e6c3d8-9779-4e90-8d35-3c40aee9675c"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2015, "end_step": 2160, "id": "6a5894c9-8960-4534-8a70-d646d6552c18"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the white bottle with purple top and presses the green block down onto the bottle."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand starts to release the green block fixed on the white bottle."}, {"label": "home", "start_step": 2206, "end_step": 2231, "id": "V76hZDhLTEAjC0pa5qs_V"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block located in front of the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes minor adjustments to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block stably without any observable movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar, presses it downward to mate the block onto the pillar."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table surface and transports it to above the left front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the left front purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white annular block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical post by aligning its central hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical post without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white ring on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving downward until the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, without touching the block yet."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal block slightly to adjust its orientation, the block's position keeps almost unchanged."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the white bottle with purple top and presses the green block down onto the bottle."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand starts to release the green block fixed on the white bottle."}], "episode_index": 15}
+{"source_uid": "cc53b8203f3de561", "num_frames": 2047, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right home position without obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "52a73eba-aeed-411a-a461-4037bb6d03dc"}, {"label": "valid", "start_step": 0, "end_step": 2023, "id": "lgN2FCvF8JNqsQcF0pV-W"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves left and downward from the right home position toward the green hexagonal block placed in front of the wooden stand, with fingers slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers and adjusts contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 141, "end_step": 266, "id": "8d476ca8-607a-461a-a519-d414c2b97f05"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the black table surface and moves it to a position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the assembled block."}, {"label": "goal", "start_step": 267, "end_step": 380, "id": "7818439e-bd4d-47c9-8884-125630372952"}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers gradually to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface while maintaining a firm grip on the block."}, {"label": "goal", "start_step": 381, "end_step": 492, "id": "d97b60ab-bfe4-4579-a6d8-1e48a9392de2"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without any visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand holds the white hexagonal block partially fitted on the purple peg, moves it downward until it rests stably on the green block below on the wooden pegboard."}, {"label": "goal", "start_step": 493, "end_step": 588, "id": "1d9c8c40-7b6b-465f-8f49-bb57f40c6f77"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand, now empty, moves downward and away from the wooden pegboard toward the nearby white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes its fingers around the block with small positional adjustments of the fingers and wrist to form a secure grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, lifts the block upward until it is fully separated from the table."}, {"label": "goal", "start_step": 589, "end_step": 750, "id": "08f83561-6675-4936-8710-58dc442e5fdd"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and forward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple rod, fitting the block onto the top of the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand guides the white hexagonal block downward along the purple rod with minor positional adjustments, until the block rests stably on the stacked block below on the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack, approaching the white hexagonal nut placed on the black table surface near the rack."}, {"label": "goal", "start_step": 751, "end_step": 834, "id": "2c8a74bb-8521-4867-8bf7-345c8cb4720f"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, adjusts finger positions gradually and closes fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block on the table surface, lifting it upward."}, {"label": "goal", "start_step": 835, "end_step": 996, "id": "43dabf84-b0b0-43b7-b239-a4f727ef7eab"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple post, lowering the block to fit it onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base until the block rests stably on the peg, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 997, "end_step": 1086, "id": "a3b8ad8d-2074-422d-ac10-a54ef7809c7d"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface, maintaining the block's vertical orientation."}, {"label": "goal", "start_step": 1087, "end_step": 1202, "id": "d426833f-383f-4270-b7b3-dcb02d099708"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped green block over the purple peg on the wooden stand and lowers it onto the peg to rest on the underlying white block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to finger positions on the green block to stabilize its fit on the purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the green block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1203, "end_step": 1288, "id": "30bb7771-e54d-4563-b092-5514f5520114"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "goal", "start_step": 1289, "end_step": 1410, "id": "a3bfc859-d35c-4e3d-8008-e7c991646a29"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal cap on the purple rod of the wooden rack, fingers opening and lifting away from the cap surface."}, {"label": "goal", "start_step": 1411, "end_step": 1520, "id": "120a05c3-0598-4279-b9fb-21df099bdc0b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty from the wooden rack area toward the upper white hexagonal nut on the black table, approaching the target object."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the black table, adjusting finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 1521, "end_step": 1610, "id": "6ee07683-42bb-4faf-95a4-bacd272224bc"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top end of the purple rod for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white hexagonal column, moves downward to set the column onto the purple rod of the wooden base, with fingers opening to release the column as the column becomes supported by the base."}, {"label": "goal", "start_step": 1611, "end_step": 1712, "id": "36e82ed9-3ce6-4123-a182-23f2e6218a09"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut on the black table beside the green block, approaching the nut without establishing a grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position above the purple vertical post on the wooden block base."}, {"label": "goal", "start_step": 1713, "end_step": 1790, "id": "7939757d-e765-4ec2-81cb-f4ff5c02d3c3"}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical post on the wooden base, lowers the block to fit onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand positions the white circular ring along the purple rod onto the top of the front-right white bottle on the wooden tray and releases the ring with open fingers."}, {"label": "goal", "start_step": 1791, "end_step": 1876, "id": "93c5f4fc-b3c9-4810-9b9b-e9ffb90de44b"}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty with slightly open fingers from the area above the wooden tray down toward the green square block on the lower right table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers to make contact with the green square block on the table, adjusting contact points to form a grasp."}, {"label": "goal", "start_step": 1877, "end_step": 1978, "id": "c132f784-7e2e-4626-b3a7-2b407f646c2d"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple peg on the wooden rack, positioning it for assembly."}, {"label": "home", "start_step": 2024, "end_step": 2046, "id": "cjTERGTwy-ugP00akCdAK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right home position without obvious overall displacement."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves left and downward from the right home position toward the green hexagonal block placed in front of the wooden stand, with fingers slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers and adjusts contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the black table surface and moves it to a position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the assembled block."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers gradually to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface while maintaining a firm grip on the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without any visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand holds the white hexagonal block partially fitted on the purple peg, moves it downward until it rests stably on the green block below on the wooden pegboard."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand, now empty, moves downward and away from the wooden pegboard toward the nearby white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes its fingers around the block with small positional adjustments of the fingers and wrist to form a secure grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and forward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple rod, fitting the block onto the top of the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand guides the white hexagonal block downward along the purple rod with minor positional adjustments, until the block rests stably on the stacked block below on the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack, approaching the white hexagonal nut placed on the black table surface near the rack."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, adjusts finger positions gradually and closes fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand holds the white hexagonal block on the table surface, lifting it upward."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple post, lowering the block to fit it onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base until the block rests stably on the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface, maintaining the block's vertical orientation."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport_place: Right hand moves the grasped green block over the purple peg on the wooden stand and lowers it onto the peg to rest on the underlying white block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes small adjustments to finger positions on the green block to stabilize its fit on the purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal cap on the purple rod of the wooden rack, fingers opening and lifting away from the cap surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty from the wooden rack area toward the upper white hexagonal nut on the black table, approaching the target object."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the black table, adjusting finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top end of the purple rod for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white hexagonal column, moves downward to set the column onto the purple rod of the wooden base, with fingers opening to release the column as the column becomes supported by the base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut on the black table beside the green block, approaching the nut without establishing a grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position above the purple vertical post on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical post on the wooden base, lowers the block to fit onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand positions the white circular ring along the purple rod onto the top of the front-right white bottle on the wooden tray and releases the ring with open fingers."}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty with slightly open fingers from the area above the wooden tray down toward the green square block on the lower right table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers to make contact with the green square block on the table, adjusting contact points to form a grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple peg on the wooden rack, positioning it for assembly."}], "episode_index": 16}
+{"source_uid": "d55e63faf3a42080", "num_frames": 2055, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand returns to the home position at the left side of the table, moving slightly rightward and adjusting its finger posture. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "935b917d-3a5b-4033-8abc-20087f02dbbf"}, {"label": "valid", "start_step": 0, "end_step": 2028, "id": "-d0aGwdmglyEBsAdBWXtE"}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white nut with green base on the leftmost purple rod, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand moves the white nut with green base downward along the leftmost purple rod to the lower position near the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 133, "end_step": 338, "id": "d62cc4b4-4c40-40e9-8683-5f0d34a80186"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple pegs of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_press: Right hand inserts the green hexagonal block onto the front-left purple peg of the wooden rack and presses it downward along the peg gradually."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 339, "end_step": 442, "id": "43e31c5b-f964-4b5d-b305-63a1b8fad56c"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 443, "end_step": 548, "id": "19eb058c-d486-42fe-b0f3-50a213b4119e"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 549, "end_step": 634, "id": "0d5c54a2-b280-43d5-a384-419eb6992c95"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 635, "end_step": 750, "id": "8d0519d4-885b-46f1-8068-a93c89ee5d59"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 751, "end_step": 846, "id": "d935d0e6-1d77-4823-94b6-37f48ac6c947"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part from the black table surface."}, {"label": "goal", "start_step": 847, "end_step": 944, "id": "dadeaa30-91bf-4954-90de-eb4ce21d6be5"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal part toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 945, "end_step": 1024, "id": "9e3187c9-80d2-4856-b42a-8c84666d6708"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the green hollow block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the green block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1025, "end_step": 1126, "id": "02a3b0b1-e67c-4af8-a610-d4c123d5ee57"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the right purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the green block onto the right purple rod of the wooden rack, releasing it afterward."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach_grasp: Right hand reaches toward the top-right white cylinder on the wooden rack and initiates grasping."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden board and releases the ring."}, {"label": "goal", "start_step": 1127, "end_step": 1212, "id": "79dff54e-7a68-43bb-88ec-ea4d177aa5f4"}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the right table and lifts it off the table surface."}, {"label": "goal", "start_step": 1213, "end_step": 1354, "id": "270e5660-877a-44e2-b6b8-b9565aad6ef2"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1355, "end_step": 1444, "id": "25c9f8c6-c145-4dd6-a5e9-0302a5c6dda4"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1445, "end_step": 1572, "id": "2da9f476-667b-409f-a50a-4e929ef24bdc"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1573, "end_step": 1658, "id": "9b934ba8-e817-48d2-bce5-a554a8440e1a"}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with closing fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from the right area of the table to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1659, "end_step": 1770, "id": "8fbd7995-486d-4a77-be19-4a79c5d086c7"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with purple cap on the wooden base."}, {"label": "goal", "start_step": 1771, "end_step": 1854, "id": "b9d318b1-9cd0-4437-a8c8-51443eab80bf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green holed square block on the right side of the black table without moving."}, {"label": "goal", "start_step": 1855, "end_step": 1974, "id": "20d72c64-6002-43d8-aec7-49e87817f627"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block off the table and moves it to above the rightmost post of the block rack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the rightmost post and fits it onto the post for assembly."}, {"label": "home", "start_step": 2029, "end_step": 2054, "id": "nPMO2BtED4pkbe_TOETlu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand returns to the home position at the left side of the table, moving slightly rightward and adjusting its finger posture. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "subtasks", "start_step": 52, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white nut with green base on the leftmost purple rod."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white nut with green base on the leftmost purple rod, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand moves the white nut with green base downward along the leftmost purple rod to the lower position near the green block on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple pegs of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_press: Right hand inserts the green hexagonal block onto the front-left purple peg of the wooden rack and presses it downward along the peg gradually."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the rightmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part from the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal part toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the green hollow block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the green block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the right purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the green block onto the right purple rod of the wooden rack, releasing it afterward."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach_grasp: Right hand reaches toward the top-right white cylinder on the wooden rack and initiates grasping."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden board and releases the ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the right table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with closing fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from the right area of the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: hold: Right hand holds the green holed square block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block off the table and moves it to above the rightmost post of the block rack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position on the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the rightmost post and fits it onto the post for assembly."}], "episode_index": 17}
+{"source_uid": "b29d31357632df10", "num_frames": 2464, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves forward from the left side of the table towards the center operation area. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the tabletop in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "ea985117-7ed6-494a-bf2e-f25dc0c64bf1"}, {"label": "valid", "start_step": 0, "end_step": 2432, "id": "L58UrE5Yh45UnYoY2ynE6"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it towards the purple peg on the wooden rack."}, {"label": "goal", "start_step": 129, "end_step": 338, "id": "adbd1dcc-492c-4a55-9329-18853a5d5311"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block onto the target purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 339, "end_step": 442, "id": "fd62cd1f-e366-4ca9-adeb-6638df071cb1"}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the top of the leftmost purple post on the wooden rack."}, {"label": "goal", "start_step": 443, "end_step": 602, "id": "6af9db82-ff45-4f02-b5cf-25fabb29f6ea"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple post by pressing down to insert the post into the block's hole."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white annular block onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 798, "id": "55076d9e-6b76-4e6d-9454-0a60e2b743d6"}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 799, "end_step": 932, "id": "6c43eef4-740b-4f8f-9416-aa243b2f2bc3"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit properly."}, {"label": "goal", "start_step": 933, "end_step": 1096, "id": "0d5b87c6-60b4-4ede-8ba1-c9f3dec7ff64"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp_lift: Right hand adjusts fingers to form stable grasp on the white hexagonal block, then lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface, moving it to above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1097, "end_step": 1194, "id": "74aac976-c978-4a08-b123-8db3b78bc5cb"}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1195, "end_step": 1298, "id": "737c5d6f-012a-41a9-a184-2f64489ff0b0"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block, with fingers closing around the block."}, {"label": "goal", "start_step": 1299, "end_step": 1412, "id": "17b45dfe-f33a-4881-8c81-fa0c5000dd21"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block down along the peg until it is stably supported."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the rightmost white peg of the wooden base without any movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1413, "end_step": 1522, "id": "f7320bc7-67ec-41e7-b1db-240d75059ed7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 1523, "end_step": 1690, "id": "d8418df0-4336-4511-b55d-f48d02667867"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1691, "end_step": 1776, "id": "22f6d0fd-09a4-4322-8383-e2c7008ea73b"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "goal", "start_step": 1777, "end_step": 1884, "id": "de197c72-545f-4c0d-9148-381fc5e0b97c"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1885, "end_step": 1994, "id": "6e228e71-dc6a-4f33-a865-b74f70ad2951"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to prepare for grasping the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base with cylindrical pegs."}, {"label": "goal", "start_step": 1995, "end_step": 2126, "id": "5f69dc8f-2934-4402-989a-b1908b24269d"}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2127, "end_step": 2228, "id": "01bc61b1-af82-4abc-aec6-0361eae3761c"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2229, "end_step": 2374, "id": "bd436ced-5ab7-4b12-9cfc-f7e066aab781"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block towards the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down onto the rightmost white pillar to fit it in place."}, {"label": "home", "start_step": 2433, "end_step": 2463, "id": "NOmMR5B-PFRVQMCtuNCJX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves forward from the left side of the table towards the center operation area. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block onto the target purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the top of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple post by pressing down to insert the post into the block's hole."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white annular block onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white annular block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit properly."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp_lift: Right hand adjusts fingers to form stable grasp on the white hexagonal block, then lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface, moving it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the green block down along the peg until it is stably supported."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the rightmost white peg of the wooden base without any movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the black tabletop."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to prepare for grasping the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base with cylindrical pegs."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block towards the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down onto the rightmost white pillar to fit it in place."}], "episode_index": 18}
+{"source_uid": "43cb7bf3326ac0ad", "num_frames": 2204, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal nut adjacent to the wooden peg board with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "6fc96750-6631-4f8b-ba87-39bb531528b0"}, {"label": "valid", "start_step": 0, "end_step": 2176, "id": "mCCXyb55OIoGm_WRzTCwz"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal nut adjacent to the wooden peg board to establish a grip."}, {"label": "goal", "start_step": 127, "end_step": 216, "id": "4a6c906b-e95f-4e7e-94dd-07979f8b325d"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block fully away from the black table support surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple peg on the wooden rack, aligns the block's central hole with the peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden rack, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the purple peg, allowing the block to fall down to the table surface."}, {"label": "goal", "start_step": 217, "end_step": 556, "id": "cd4eebc9-20f9-4829-b6aa-38f9e60b341b"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block placed on the table, approaching the target object."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to a position close to the wooden assembly base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the white hexagonal block until it rests on the table surface near the wooden assembly base, supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table near the wooden assembly base without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table again, moves it toward the left purple peg on the wooden base, and slightly rotates the wrist to adjust the block's orientation."}, {"label": "goal", "start_step": 557, "end_step": 674, "id": "0dbca1f2-4a9b-40d6-b26c-e10ddd85ba2a"}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand holds the white hexagonal part, makes slight positional and rotational adjustments to align its central hole with the purple peg, and moves the part downward to fit onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden base without visible movement."}, {"label": "goal", "start_step": 675, "end_step": 772, "id": "50fe0f5b-db24-4766-bae3-7020fdde8b64"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg, moving downward toward the white hexagonal block on the nearby table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is fully separated from the table."}, {"label": "goal", "start_step": 773, "end_step": 858, "id": "b3b6388c-9c4f-4124-a863-8e9fdd7917d9"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand makes small positional adjustments to the white hexagonal nut to align its central hollow hole with the target purple peg for assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple peg until the nut rests stably on the underlying green support block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the top of the stacked block assembly on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 859, "end_step": 950, "id": "52f0f3be-1587-442c-95a4-cd06bbf87ace"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with no contact with the target block."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1030, "id": "2507d67c-d5a6-48db-90e0-bdc3b492f403"}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block onto the rod with slight finger adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, and releases the block once the block is supported by the lower block."}, {"label": "goal", "start_step": 1031, "end_step": 1122, "id": "f78223fb-d991-4e8a-bd56-6606f84c129d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1123, "end_step": 1270, "id": "1fc1d4d7-6a01-43a4-820f-86427414e3fd"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, makes small positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 1271, "end_step": 1390, "id": "63b9fbf9-3104-472c-94d7-10f28a8b0c51"}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the front white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the front white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the dark table surface, and transports it to the position directly above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1391, "end_step": 1508, "id": "aff5e3d5-82db-4b56-8336-8da9487a03e5"}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod, moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block from its grip."}, {"label": "goal", "start_step": 1509, "end_step": 1604, "id": "6ef9f55b-5fe7-4ea0-93aa-91266481fe70"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the stacked block on the wooden base, with fingers opening to release the block once it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block resting on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, adjusting finger positions to close around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table and lifts it upward until the block is completely off the table surface."}, {"label": "goal", "start_step": 1605, "end_step": 1716, "id": "034fcb6f-4dc7-43e7-9547-f703dd2f49df"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand holds the lifted white hexagonal block, moves it leftward to the position above the purple rod on the wooden base, and aligns and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple rod of the wooden block set."}, {"label": "goal", "start_step": 1717, "end_step": 1806, "id": "6c9c40a7-dc3e-4c8a-8116-e0a0c2af1a78"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward and rightward with an empty hand toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the table surface without moving."}, {"label": "goal", "start_step": 1807, "end_step": 1924, "id": "5d2c54b3-8b2e-4548-b774-5dce45c702cc"}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base and moves it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to rest on the lower white block on the wooden base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1925, "end_step": 2014, "id": "b27eb5a4-6166-4348-888e-0945047d7a89"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward empty from the block assembly, approaching the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the green block resting on the black table surface and lifts it upward, until the block is fully lifted off the table at the end of the segment."}, {"label": "goal", "start_step": 2015, "end_step": 2136, "id": "cceef1d6-71e8-496f-b60a-e7a61f378926"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted green block and moves it leftward to the position directly above the purple peg on the wooden block rack, with slight position adjustment for alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green block stationary above the purple peg on the wooden rack without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate_release: Right hand moves the green block downward to align its central hole with the purple peg, slides the block onto the peg until it rests on the underlying white block, opens its fingers to release the block which stays stable on the peg."}, {"label": "home", "start_step": 2177, "end_step": 2203, "id": "Ui0h2bpsxZfotB26S8Biy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal nut adjacent to the wooden peg board with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal nut adjacent to the wooden peg board to establish a grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block fully away from the black table support surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple peg on the wooden rack, aligns the block's central hole with the peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden rack, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the purple peg, allowing the block to fall down to the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block placed on the table, approaching the target object."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to a position close to the wooden assembly base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the white hexagonal block until it rests on the table surface near the wooden assembly base, supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table near the wooden assembly base without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table again, moves it toward the left purple peg on the wooden base, and slightly rotates the wrist to adjust the block's orientation."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand holds the white hexagonal part, makes slight positional and rotational adjustments to align its central hole with the purple peg, and moves the part downward to fit onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg of the wooden base without visible movement."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg, moving downward toward the white hexagonal block on the nearby table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand makes small positional adjustments to the white hexagonal nut to align its central hollow hole with the target purple peg for assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple peg until the nut rests stably on the underlying green support block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the top of the stacked block assembly on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with no contact with the target block."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block onto the rod with slight finger adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, and releases the block once the block is supported by the lower block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, makes small positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward toward the front white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the front white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand grips the white hexagonal block, lifts it off the dark table surface, and transports it to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod, moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the stacked block on the wooden base, with fingers opening to release the block once it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block resting on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, adjusting finger positions to close around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table and lifts it upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport_mate: Right hand holds the lifted white hexagonal block, moves it leftward to the position above the purple rod on the wooden base, and aligns and fits the block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward and rightward with an empty hand toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the table surface without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base and moves it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to rest on the lower white block on the wooden base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: reach: Right hand moves downward empty from the block assembly, approaching the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: lift: Right hand holds the green block resting on the black table surface and lifts it upward, until the block is fully lifted off the table at the end of the segment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: transport: Right hand carries the lifted green block and moves it leftward to the position directly above the purple peg on the wooden block rack, with slight position adjustment for alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: hold: Right hand holds the green block stationary above the purple peg on the wooden rack without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible movement. | Right hand: mate_release: Right hand moves the green block downward to align its central hole with the purple peg, slides the block onto the peg until it rests on the underlying white block, opens its fingers to release the block which stays stable on the peg."}], "episode_index": 19}
+{"source_uid": "54fe4f50d17f2835", "num_frames": 2316, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: idle: Right hand stays empty at the right initial position above the table, with only minor finger adjustments and no obvious overall movement toward workspace objects."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "ea3893d9-2f84-4812-9bf6-4dd9ab3f2494"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "xNxQeXjGvpSJOikTnOvWE"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward and toward the green hexagonal block adjacent to the wooden peg board, with fingers slightly curved as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the target green hexagonal block to establish a grip."}, {"label": "goal", "start_step": 147, "end_step": 258, "id": "bbca099b-e50a-4df2-8802-cff5e0cf6945"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moving it upward and toward the purple post on the wooden assembly base until the block hovers directly above the post."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it snugly onto the post."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand moves downward to seat the white hexagonal block onto the purple peg of the wooden pegboard, opening fingers to release the fully seated block."}, {"label": "goal", "start_step": 259, "end_step": 342, "id": "784c6cd8-5777-4065-94ce-31ac22b49bbc"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black work surface below the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger contact positions to establish a secure grip on the block."}, {"label": "goal", "start_step": 343, "end_step": 460, "id": "1ff0b34d-8f0a-4e7b-aab0-52780494fd9e"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut to fit onto the peg and adjusts slightly to seat it properly."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press_release: Right hand holds the white-topped green hexagonal block, presses it vertically down to seat it on the leftmost purple peg of the wooden base, and releases the seated block."}, {"label": "goal", "start_step": 461, "end_step": 566, "id": "46844c2a-b465-48b3-bb63-bb14226f90b4"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and forward from the wooden peg board toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand positions fingers around the target white hexagonal block on the table, closing and adjusting fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds a white hexagonal block resting on the black table surface without visible movement."}, {"label": "goal", "start_step": 567, "end_step": 690, "id": "85bb23c0-d139-4c87-9f4f-c4553ede1734"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above a purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple peg, and slides the block down the peg to fit onto the rack with small wrist and finger adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press: Right hand presses down on the top surfaces of the white cylindrical blocks on the pegs to seat them fully onto the wooden assembly base."}, {"label": "goal", "start_step": 691, "end_step": 770, "id": "af65aadf-4c88-48a2-ac59-367b5de0721c"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut located directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to establish a grip."}, {"label": "goal", "start_step": 771, "end_step": 892, "id": "d423a793-0c20-4419-93c2-4cc47b70440f"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, then slides the nut down along the rod to complete the assembly alignment."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block onto the purple rod of the wooden base until the block is supported by the base, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 893, "end_step": 980, "id": "f8152609-e042-489b-aa69-428638ca64d7"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until the block completely leaves the black table surface."}, {"label": "goal", "start_step": 981, "end_step": 1080, "id": "f53338a9-7545-49c3-a445-f15331a6f32c"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green hexagonal block through the air to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical rod, fits the block onto the rod, opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the green hexagonal block, slightly adjusts its position and orientation, aligns it with the purple rod on the wooden base, and fits the block onto the rod."}, {"label": "goal", "start_step": 1081, "end_step": 1476, "id": "0632d2c3-1f98-4cd0-959b-9b420a348fdd"}, {"label": "subtasks", "start_step": 1230, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block that is fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: release: Right hand opens its fingers gradually to release the green hexagonal block on the purple rod, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty from the rod area toward the white hexagonal block placed on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, separating the block completely from the table surface."}, {"label": "goal", "start_step": 1477, "end_step": 1656, "id": "cd97608f-5ef9-4609-9cce-cee875ad10f5"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal block in mid-air and moves it diagonally up and left to position it directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central opening with the purple post, and lowers the block to fit it onto the post with minor wrist and finger adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the stacked column on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1657, "end_step": 1744, "id": "a19b3206-d80a-4641-9cb5-73712fc10b17"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block."}, {"label": "goal", "start_step": 1745, "end_step": 1852, "id": "af726b0c-a719-4ca8-af45-2f5bdde6c0c0"}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple rod of the wooden base, releases fingers to separate from the seated block."}, {"label": "goal", "start_step": 1853, "end_step": 1934, "id": "db8a3bba-0416-4ca2-b622-86d6f7b699e9"}, {"label": "subtasks", "start_step": 1882, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward-right toward the white hexagonal block on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, adjusts finger contact positions to form a secure grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it to the position above the empty slot on the wooden block rack."}, {"label": "goal", "start_step": 1935, "end_step": 2042, "id": "1192f987-3091-4027-869b-ba0e7a296b8b"}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place: Right hand lowers the aligned white hexagonal block into the empty slot on the wooden rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, lowers it into the empty slot on the wooden bottle tray, seats the bottle fully on the tray support, and opens fingers to release grip on the bottle."}, {"label": "goal", "start_step": 2043, "end_step": 2134, "id": "7bb37b7f-cedf-4a4f-bbb4-2006027be44d"}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green cube, approaching the cube with fingers held slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the small green cube resting on the black table, adjusting finger position to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped small green cube upward, raising the cube completely off the black table surface while maintaining a stable hold."}, {"label": "goal", "start_step": 2135, "end_step": 2234, "id": "cf4b7b7f-4cb1-4f7c-8698-4220f87a6d96"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green cubic block through the air to the position directly above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple-topped bottle and moves the block downward to fit onto the bottle top."}, {"label": "home", "start_step": 2290, "end_step": 2315, "id": "yBpPEwTM6IkAnDFu0pD9I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: idle: Right hand stays empty at the right initial position above the table, with only minor finger adjustments and no obvious overall movement toward workspace objects."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward and toward the green hexagonal block adjacent to the wooden peg board, with fingers slightly curved as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand adjusts wrist and finger positions, closing fingers around the target green hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moving it upward and toward the purple post on the wooden assembly base until the block hovers directly above the post."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it snugly onto the post."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand moves downward to seat the white hexagonal block onto the purple peg of the wooden pegboard, opening fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black work surface below the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger contact positions to establish a secure grip on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and transports it upward to the position above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut to fit onto the peg and adjusts slightly to seat it properly."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press_release: Right hand holds the white-topped green hexagonal block, presses it vertically down to seat it on the leftmost purple peg of the wooden base, and releases the seated block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and forward from the wooden peg board toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand positions fingers around the target white hexagonal block on the table, closing and adjusting fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds a white hexagonal block resting on the black table surface without visible movement."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above a purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple peg, and slides the block down the peg to fit onto the rack with small wrist and finger adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: press: Right hand presses down on the top surfaces of the white cylindrical blocks on the pegs to seat them fully onto the wooden assembly base."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut located directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to establish a grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, then slides the nut down along the rod to complete the assembly alignment."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block onto the purple rod of the wooden base until the block is supported by the base, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until the block completely leaves the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green hexagonal block through the air to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical rod, fits the block onto the rod, opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the green hexagonal block, slightly adjusts its position and orientation, aligns it with the purple rod on the wooden base, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block that is fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: release: Right hand opens its fingers gradually to release the green hexagonal block on the purple rod, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves downward empty from the rod area toward the white hexagonal block placed on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, adjusting the grip to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, separating the block completely from the table surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal block in mid-air and moves it diagonally up and left to position it directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central opening with the purple post, and lowers the block to fit it onto the post with minor wrist and finger adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the stacked column on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple rod of the wooden base, releases fingers to separate from the seated block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward-right toward the white hexagonal block on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, adjusts finger contact positions to form a secure grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place: Right hand lowers the aligned white hexagonal block into the empty slot on the wooden rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, lowers it into the empty slot on the wooden bottle tray, seats the bottle fully on the tray support, and opens fingers to release grip on the bottle."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green cube, approaching the cube with fingers held slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: grasp: Right hand closes fingers around the small green cube resting on the black table, adjusting finger position to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: lift: Right hand lifts the gripped small green cube upward, raising the cube completely off the black table surface while maintaining a stable hold."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: transport: Right hand carries the green cubic block through the air to the position directly above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without visible overall displacement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple-topped bottle and moves the block downward to fit onto the bottle top."}], "episode_index": 20}
+{"source_uid": "d2b1b7057066da67", "num_frames": 2740, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block at the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 144, "id": "1829065e-031b-4197-acfe-2743e2ea2a51"}, {"label": "valid", "start_step": 0, "end_step": 2716, "id": "WYD0Amlx3B71V1IeqnEnO"}, {"label": "subtasks", "start_step": 45, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block at the front left of the wooden base."}, {"label": "goal", "start_step": 145, "end_step": 282, "id": "d5100578-1f7e-42f6-9375-7daaf7330d4e"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post above the green block on the wooden base."}, {"label": "goal", "start_step": 283, "end_step": 384, "id": "c8348fe5-5540-4fdc-afc9-a3d26044bce6"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 385, "end_step": 612, "id": "36f2bace-96ba-417b-bdbd-b8f026db5fe5"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 613, "end_step": 710, "id": "bc967ca1-e76d-4e74-8717-f9e873d9e2c2"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 711, "end_step": 816, "id": "8dc1edb3-f4b9-47fa-8c54-217f8fb69c4f"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the vertical rod on the wooden base."}, {"label": "goal", "start_step": 817, "end_step": 1282, "id": "125ef7f8-8328-477c-88d0-50393a805509"}, {"label": "subtasks", "start_step": 840, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts and closes fingers to form a stable grasp on the white ring on the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white ring upward away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green support block on the table."}, {"label": "goal", "start_step": 1283, "end_step": 1522, "id": "f8cf8619-3d00-4e62-b2ca-1e0fffa13fef"}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to stabilize the object."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green support and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1523, "end_step": 1636, "id": "99faa350-1390-4bae-9526-b7582274a981"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing around the object."}, {"label": "goal", "start_step": 1637, "end_step": 1762, "id": "667d6ab4-d7f8-4617-91d7-386672dbd2f4"}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the white post on the wooden base."}, {"label": "goal", "start_step": 1763, "end_step": 1866, "id": "d8dcaad8-69f4-4949-a6b4-a3192d1dc5ad"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylinder towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1867, "end_step": 2024, "id": "b5e49c25-1091-4ef0-80ff-46a6b9ca9a2c"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white annular block onto the peg of the wooden base."}, {"label": "goal", "start_step": 2025, "end_step": 2112, "id": "1f4e331a-af9f-4e89-a608-c34a01929a40"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white annular block on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white annular block on the black table surface by closing fingers."}, {"label": "goal", "start_step": 2113, "end_step": 2198, "id": "fadc14e9-5ad1-4a00-9b88-9ec7bee567ce"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 2199, "end_step": 2290, "id": "9ce1bef7-f225-4663-b79e-0bc147a5e561"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp around the white ring on the black table surface."}, {"label": "goal", "start_step": 2291, "end_step": 2370, "id": "2124f49d-ac9c-457b-b6bc-774be291dd5d"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "goal", "start_step": 2371, "end_step": 2462, "id": "16f193c4-9064-4cce-aa5e-746c6b9b636a"}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black tabletop."}, {"label": "goal", "start_step": 2463, "end_step": 2668, "id": "ec04017b-38d3-4c65-aa4d-4c693b1f506a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to align it with the top of the target white bottle."}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle and presses it to fit."}, {"label": "subtasks", "start_step": 2662, "end_step": 2669, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block placed on the white bottle."}, {"label": "home", "start_step": 2717, "end_step": 2739, "id": "x9tA-8CE6eW9mPlPcu-6R"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block at the front left of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block at the front left of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post above the green block on the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts and closes fingers to form a stable grasp on the white ring on the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1274, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white ring upward away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the green support block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to stabilize the object."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green support and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the white post on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylinder towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white annular block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white annular block on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white annular block on the black table surface by closing fingers."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp around the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top onto the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black tabletop."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to align it with the top of the target white bottle."}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle and presses it to fit."}, {"label": "subtasks", "start_step": 2662, "end_step": 2669, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block placed on the white bottle."}], "episode_index": 21}
+{"source_uid": "0ce6abbf3eaa6a9b", "num_frames": 2033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut placed in front of the wooden peg block, approaching the target with an open hand."}, {"label": "goal", "start_step": 0, "end_step": 156, "id": "6cae4bcb-2c17-44b6-98fc-d52f981b50b4"}, {"label": "valid", "start_step": 0, "end_step": 2008, "id": "8Ctvu6C8BIrmUieuuoxDe"}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closes fingers and adjusts wrist and finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the green hexagonal block and moves it upward toward the purple posts on the wooden base."}, {"label": "goal", "start_step": 157, "end_step": 242, "id": "5077f7ca-d9e2-4158-a382-32d037a82ed6"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with a purple post on the wooden base and lowers it to fit the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns and presses the white cylindrical cap onto the purple peg of the wooden pegboard to seat it fully in place."}, {"label": "goal", "start_step": 243, "end_step": 334, "id": "9c6e45e2-e775-49b1-bc7d-84f0f99e5df5"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the white hexagonal block on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to form a stable hold, with the block remaining on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the unoccupied purple assembly post fixed on the wooden block base."}, {"label": "goal", "start_step": 335, "end_step": 420, "id": "8a90c016-62ff-42e9-9e14-993bb58fc556"}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple post, slides the nut downward along the post to place it steadily onto the green hexagonal block at the post base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple rod of the wooden base, opens fingers to release the block so it rests stably on the lower green block."}, {"label": "goal", "start_step": 421, "end_step": 512, "id": "f661113d-0777-40d1-8bd9-36807d3f050c"}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the black table surface, fingers held slightly spread during the movement."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the object."}, {"label": "goal", "start_step": 513, "end_step": 618, "id": "3f460db5-2559-47ed-8251-cdd699ae2cda"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal part off the table surface, moves it upward and toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg on the wooden rack, lowers the part to fit it onto the peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the mated white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal part on the purple peg."}, {"label": "goal", "start_step": 619, "end_step": 738, "id": "418457b1-ad54-4194-a901-dc7e85ea4c24"}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward with empty fingers toward the loose white hexagonal block positioned in front of the wooden block stand."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block in front of the wooden block stand to establish a grip, with slight finger adjustments visible."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 739, "end_step": 842, "id": "691a7298-7846-4365-b02c-c5f875df833b"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple rod, and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut mounted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the table, with fingers open and extended, approaching the target without making contact."}, {"label": "goal", "start_step": 843, "end_step": 936, "id": "02c6f834-eb5e-4659-81b7-2104cca67cd6"}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grip."}, {"label": "goal", "start_step": 937, "end_step": 1040, "id": "a6927fc2-c479-4c00-acd8-7aa22ba8d4d8"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod, completing the nested assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden stand, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto a peg of the wooden block assembly, fingers opening to release the block."}, {"label": "goal", "start_step": 1041, "end_step": 1140, "id": "ecd7e548-b380-43b8-8d27-bb1bfddcd5b5"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface, making no contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1248, "id": "836f81c8-4beb-48ee-a8cd-6d532d0cce77"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut upward and leftward to position it directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical piece mounted on the wooden block base."}, {"label": "goal", "start_step": 1249, "end_step": 1342, "id": "1792b9c7-c58a-4904-adac-662002e1703e"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1343, "end_step": 1494, "id": "72039d17-5319-402c-8fce-71f4a3e4aa93"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal block leftward and upward to position it directly above the top-right vertical post on the wooden block rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand makes fine positional adjustments to the white hexagonal block to align its central hole with the top-right vertical post on the rack, lowering the block to nest onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block along the purple rod to rest on the white base of the rod, opens fingers to release the block and separate from it."}, {"label": "goal", "start_step": 1495, "end_step": 1600, "id": "f0e58dcd-46d7-483a-91ee-8ab4cf7e3f8f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block placed on the dark table surface without establishing a grasp."}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and leftward to the position above the purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1601, "end_step": 1742, "id": "ab78a679-5119-4fcd-aef6-1a3baceca56d"}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block stand, making small positional adjustments to position the nut over the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves diagonally downward toward the green cubic block on the dark table surface, staying empty and not yet contacting the block."}, {"label": "goal", "start_step": 1743, "end_step": 1828, "id": "0034f477-0da2-4d2a-b489-7761b1c64af1"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cubic block, making contact with the block surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the green cubic block resting on the table and lifts it upward until the block fully leaves the table surface."}, {"label": "goal", "start_step": 1829, "end_step": 1964, "id": "49642d65-612a-419e-bc44-895c1a12b7d5"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block and moves it toward the wooden rack, stopping above the purple-capped bottle on the rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple cylindrical cap on the bottle, and moves the block downward to fit it onto the cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green cubic block fitted on the purple-capped bottle without visible movement of the hand or the block."}, {"label": "home", "start_step": 2009, "end_step": 2032, "id": "tdEWXY_qIsJ98_6grt27R"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut placed in front of the wooden peg block, approaching the target with an open hand."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closes fingers and adjusts wrist and finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the green hexagonal block and moves it upward toward the purple posts on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with a purple post on the wooden base and lowers it to fit the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns and presses the white cylindrical cap onto the purple peg of the wooden pegboard to seat it fully in place."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the white hexagonal block on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to form a stable hold, with the block remaining on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the unoccupied purple assembly post fixed on the wooden block base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple post, slides the nut downward along the post to place it steadily onto the green hexagonal block at the post base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple rod of the wooden base, opens fingers to release the block so it rests stably on the lower green block."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the black table surface, fingers held slightly spread during the movement."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the object."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal part off the table surface, moves it upward and toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg on the wooden rack, lowers the part to fit it onto the peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the mated white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal part on the purple peg."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward with empty fingers toward the loose white hexagonal block positioned in front of the wooden block stand."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block in front of the wooden block stand to establish a grip, with slight finger adjustments visible."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple rod, and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut mounted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the table, with fingers open and extended, approaching the target without making contact."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod, completing the nested assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden stand, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto a peg of the wooden block assembly, fingers opening to release the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface, making no contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut upward and leftward to position it directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical piece mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal block leftward and upward to position it directly above the top-right vertical post on the wooden block rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand makes fine positional adjustments to the white hexagonal block to align its central hole with the top-right vertical post on the rack, lowering the block to nest onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block along the purple rod to rest on the white base of the rod, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block placed on the dark table surface without establishing a grasp."}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and leftward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block stand, making small positional adjustments to position the nut over the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves diagonally downward toward the green cubic block on the dark table surface, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cubic block, making contact with the block surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand holds the green cubic block resting on the table and lifts it upward until the block fully leaves the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block and moves it toward the wooden rack, stopping above the purple-capped bottle on the rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple cylindrical cap on the bottle, and moves the block downward to fit it onto the cap."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, staying stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the green cubic block fitted on the purple-capped bottle without visible movement of the hand or the block."}], "episode_index": 22}
+{"source_uid": "4116a42608103c23", "num_frames": 2422, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand stays at the left side of the table, slightly adjusts its finger posture while remaining empty and has no obvious overall displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "a778e62d-69cd-4305-b17c-5141de48462b"}, {"label": "valid", "start_step": 0, "end_step": 2393, "id": "uFQJYo5lqVe4NLStLcr-b"}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward and closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 147, "end_step": 244, "id": "f277170d-c568-42fb-a74c-1cc1a1e75c19"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table surface to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the top white hexagonal block on the leftmost purple peg upward."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the left front purple vertical post."}, {"label": "goal", "start_step": 245, "end_step": 344, "id": "35c79864-0d16-4320-9d9a-3243fb00124c"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block downward toward the front area of the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block on the black tabletop and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the frontmost white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the frontmost white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the leftmost top peg of the pegboard."}, {"label": "goal", "start_step": 345, "end_step": 446, "id": "6d5aeb31-6f67-4ffc-8b86-aca630fa566b"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal ring downward to mate it onto the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the leftmost top peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 447, "end_step": 540, "id": "bfca7a9e-9209-4637-adcc-cac42870de54"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "goal", "start_step": 541, "end_step": 724, "id": "e570bf6c-be82-42e3-9b00-ad883ae63195"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 592, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white perforated hexagonal block onto the leftmost vertical pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 725, "end_step": 824, "id": "7a785dce-eb92-40b7-a0fa-7b4b3668828f"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block towards the top of the rightmost purple vertical rod."}, {"label": "goal", "start_step": 825, "end_step": 918, "id": "557e2741-523c-45d0-ba12-4d562b5bec8b"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the rightmost purple vertical rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the rightmost purple vertical rod without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the middle purple peg and places it on the wooden base."}, {"label": "goal", "start_step": 919, "end_step": 1032, "id": "f9646120-bebc-40e6-92ff-87357edde44d"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1033, "end_step": 1128, "id": "a658f973-d547-4afc-8feb-4e5b85972032"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it toward the wooden rack on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal ring with the rightmost purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the green cube on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1129, "end_step": 1228, "id": "8bc3dca4-b673-464a-aeb4-64a34c6e687e"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1229, "end_step": 1332, "id": "f4960ad1-8728-4800-b733-be5d116b6abe"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the black table and moves it right-up to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple rod on the wooden tray, lowering the part to slide it down the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden tray without moving."}, {"label": "goal", "start_step": 1333, "end_step": 1420, "id": "03b2b4bb-a9f3-4d3b-9fd6-0d78fdbce72f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting around it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece up from the table surface."}, {"label": "goal", "start_step": 1421, "end_step": 1554, "id": "e8a992ad-5fb8-4f5d-8f71-0559b5cc8488"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal piece and transports it leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical part with purple rod onto the rightmost slot of the wooden board."}, {"label": "goal", "start_step": 1555, "end_step": 1666, "id": "9ee17707-f130-452c-9a94-7bab66c215fb"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod of the white part on the wooden board, fingers opening and moving away slightly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring and moves it from the right lower area of the table to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1667, "end_step": 1748, "id": "4727bacd-187b-467c-809e-2c44032b4ee1"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits the ring down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple rod on the front-right of the wooden board, fingers gradually open and separate from the cylinder."}, {"label": "goal", "start_step": 1749, "end_step": 1842, "id": "91d667b5-a07b-4f44-95d4-3983ee002762"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the green cubic block on the right side of the table, approaching the target block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the table, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1843, "end_step": 2346, "id": "b0088017-d2b4-43dc-a8c8-3da4531935fd"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green cube with the purple rod on the white bottle and releases it, causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube rolling to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the area below the right side of the bottle set."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green cube on the table and releases it."}, {"label": "subtasks", "start_step": 2122, "end_step": 2227, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table below the bottle set."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the bottle with the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple rod on the white bottle and fits it onto the rod."}, {"label": "home", "start_step": 2394, "end_step": 2421, "id": "1aCONuO5SbSNWTCFyhsVT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand stays at the left side of the table, slightly adjusts its finger posture while remaining empty and has no obvious overall displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the lower left of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward and closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table surface to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the top white hexagonal block on the leftmost purple peg upward."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the left front purple vertical post."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block downward toward the front area of the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block on the black tabletop and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the frontmost white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the frontmost white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal ring downward to mate it onto the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the leftmost top peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 592, "end_step": 719, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white perforated hexagonal block onto the leftmost vertical pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block towards the top of the rightmost purple vertical rod."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the rightmost purple vertical rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the rightmost purple vertical rod without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block along the middle purple peg and places it on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1041, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it toward the wooden rack on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal ring with the rightmost purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the green cube on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the black table and moves it right-up to above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple rod on the wooden tray, lowering the part to slide it down the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden tray without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases the piece."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers adjusting around it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece up from the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal piece and transports it leftward and upward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical part with purple rod onto the rightmost slot of the wooden board."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod of the white part on the wooden board, fingers opening and moving away slightly."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring and moves it from the right lower area of the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits the ring down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple rod on the front-right of the wooden board, fingers gradually open and separate from the cylinder."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the green cubic block on the right side of the table, approaching the target block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green cube with the purple rod on the white bottle and releases it, causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube rolling to the right side of the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the area below the right side of the bottle set."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green cube on the table and releases it."}, {"label": "subtasks", "start_step": 2122, "end_step": 2227, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table below the bottle set."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the bottle with the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple rod on the white bottle and fits it onto the rod."}], "episode_index": 23}
+{"source_uid": "315937cba272f8d6", "num_frames": 2722, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: idle: Right hand stays empty at the right side of the operating area with slight posture adjustment before moving towards the target."}, {"label": "goal", "start_step": 0, "end_step": 250, "id": "63d4adc2-6b0b-4592-a33d-e9f329a975a5"}, {"label": "valid", "start_step": 0, "end_step": 2690, "id": "A_XsVQ5Hk6iXHTDgr0F5-"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves forward and left towards the green cubic block placed in front of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers and makes small adjustments to form a stable grip on the green cubic block."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_place: Right hand lifts the green cubic block from the table and places it into the left lower hole of the wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it towards the top left purple peg of the wooden rack."}, {"label": "goal", "start_step": 251, "end_step": 358, "id": "d38a6829-c405-4c20-84ea-24089e250a03"}, {"label": "subtasks", "start_step": 270, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block with the top left purple peg on the wooden rack by inserting it downwards."}, {"label": "goal", "start_step": 359, "end_step": 462, "id": "7da445c6-a3f1-4602-a1d5-c5876e55c38e"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 463, "end_step": 598, "id": "34039d4a-afab-4cba-b484-143e9ce68916"}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple rod and presses it down to fit onto the rod."}, {"label": "goal", "start_step": 599, "end_step": 744, "id": "b269fc0d-79c9-4145-af0d-0995fa38d876"}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 745, "end_step": 862, "id": "1c3263a2-5253-47f2-81c9-432c126c6879"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 772, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack by aligning and lowering it down."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 863, "end_step": 946, "id": "f71de981-4366-4790-9a0b-df676a2e906e"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 947, "end_step": 1082, "id": "8e47db14-4e54-47c2-a09d-f5c62292716e"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1083, "end_step": 1182, "id": "ac126d3e-ff71-449e-a9c0-09a39bde42f8"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it up from the table surface."}, {"label": "goal", "start_step": 1183, "end_step": 1288, "id": "e21e1eac-f0c3-4e47-8354-f3361f44a0c0"}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green cubic block towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green cubic block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1289, "end_step": 1382, "id": "c8595bf1-3cff-4471-b811-ddd83decab54"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "goal", "start_step": 1383, "end_step": 1668, "id": "5a1f1d3f-4a99-439b-b536-4bbcba78fcf9"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: press: Right hand presses the white hexagonal block downwards to fix it stably on the purple vertical rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 1669, "end_step": 1744, "id": "f2218377-d465-491a-ab40-00558dc4eeeb"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close around the block to establish grip."}, {"label": "goal", "start_step": 1745, "end_step": 1856, "id": "1bbf4de2-1eee-4456-80c4-56c67d4087d4"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1857, "end_step": 1944, "id": "b3238d0c-7402-47b2-a822-96169a3acb45"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "goal", "start_step": 1945, "end_step": 2054, "id": "6fc26430-76b4-491a-89db-6a5039c64da9"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2055, "end_step": 2148, "id": "0fb136fa-2019-4e13-ba4d-a8e97a90f3ca"}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the right table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "goal", "start_step": 2149, "end_step": 2646, "id": "84837b1b-d224-4e38-86b9-f4038b847c61"}, {"label": "subtasks", "start_step": 2190, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand tries to fit the green square block onto the rightmost white pillar, then the block falls onto the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2361, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the green square block that fell on the right table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2511, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand fits the green square block onto the rightmost white pillar until it is stably placed on the pillar."}, {"label": "home", "start_step": 2691, "end_step": 2721, "id": "fPNpYjAzQ2DbPxb8rxq-j"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: idle: Right hand stays empty at the right side of the operating area with slight posture adjustment before moving towards the target."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves forward and left towards the green cubic block placed in front of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers and makes small adjustments to form a stable grip on the green cubic block."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_place: Right hand lifts the green cubic block from the table and places it into the left lower hole of the wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it towards the top left purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 270, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block with the top left purple peg on the wooden rack by inserting it downwards."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the front left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple rod and presses it down to fit onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 772, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack by aligning and lowering it down."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table and lifts it up from the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green cubic block towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green cubic block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: press: Right hand presses the white hexagonal block downwards to fix it stably on the purple vertical rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close around the block to establish grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the right table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand tries to fit the green square block onto the rightmost white pillar, then the block falls onto the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2361, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: reach: Right hand moves toward the green square block that fell on the right table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2511, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: transport: Right hand transports the green square block from the table surface to the top of the rightmost white pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without performing any operation throughout the period. | Right hand: mate: Right hand fits the green square block onto the rightmost white pillar until it is stably placed on the pillar."}], "episode_index": 24}
+{"source_uid": "8b3c85f1b43e4a5b", "num_frames": 2096, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand stays at the left area of the table, remains empty, and gradually bends its fingers from an extended upward posture to a relaxed curled posture with no obvious wrist displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "127102af-c13a-49cf-af95-76825a536ada"}, {"label": "valid", "start_step": 0, "end_step": 2069, "id": "hjPPYQwuXX1Bgw-bMCT6i"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal block on the table, fingers close and make small adjustments to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the green block, moves upward to lift the block fully off the recess on the wooden base."}, {"label": "goal", "start_step": 153, "end_step": 284, "id": "74113d36-9170-4172-ab48-2a6138150f5d"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted green block, moves horizontally to position the block directly over the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central opening of the green block with the purple post, lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the green block fitted on the purple post without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and leftward from the wooden pegboard area toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 285, "end_step": 366, "id": "f1a77c77-644e-4790-bb16-287e9875adad"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts wrist position and finger posture to close gradually around the targeted white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 367, "end_step": 474, "id": "e5b197ca-c723-4cac-a18f-9d70eff0649b"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, making small positional adjustments while lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers a white hexagonal block onto a purple peg of the wooden base and releases the block when the block is stably supported on the peg."}, {"label": "goal", "start_step": 475, "end_step": 552, "id": "2d56928a-9252-47c8-94a3-15a7796d31e0"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward toward a white hexagonal block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without observable movement."}, {"label": "goal", "start_step": 553, "end_step": 702, "id": "0ed3ef2f-3265-4e49-89a7-1addf0edbb64"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it to the position directly above the target purple rod."}, {"label": "subtasks", "start_step": 592, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate_release: Right hand holds the white hexagonal nut, aligns it with the purple vertical rod on the wooden base to fit the nut onto the rod, opens fingers to release the mated nut."}, {"label": "goal", "start_step": 703, "end_step": 808, "id": "e23e9074-89d0-4cef-970d-de9fcab73226"}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand, empty, moves downward from the wooden base area toward the white hexagonal nut resting on the black table next to the base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "goal", "start_step": 809, "end_step": 948, "id": "bee1870a-050c-451c-965a-e161ab03e48d"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut on the purple post."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple post on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 949, "end_step": 1050, "id": "35726d03-4d14-414f-aa45-d2adb9dfa65b"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1051, "end_step": 1224, "id": "f2d76cc4-fc0c-4700-b13e-6604f68f34c1"}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green hexagonal block slightly, aligns its central hole with the purple rod, and presses it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: press: Right hand applies downward pressure on the green hexagonal block on the wooden peg to seat it fully on the underlying white block."}, {"label": "goal", "start_step": 1225, "end_step": 1352, "id": "682d0668-f045-4b28-840b-7ab8e358eafc"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward and rightward from the wooden base toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a hold on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving, maintaining a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface and moves it slightly toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it from the lower right area above the table to the position directly above the target vertical post on the wooden block assembly."}, {"label": "goal", "start_step": 1353, "end_step": 1462, "id": "34e01d6a-cfe3-427a-b415-801d4d845533"}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target vertical post on the wooden block assembly, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple vertical rod mounted on the wooden base, fingers opening to release the block as the block rests stably on the rod."}, {"label": "goal", "start_step": 1463, "end_step": 1542, "id": "a85ad58f-41e3-4df4-b822-68bc6ae4e2dc"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface next to the wooden assembly base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "goal", "start_step": 1543, "end_step": 1644, "id": "c75b9d50-dd90-44f1-aff1-41133347ea5d"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and toward the purple rod fixed on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden base without movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple rod and fit it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block with green ring onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1645, "end_step": 1726, "id": "999d1d09-b991-45b4-90ea-40be531a7d6c"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it leftward and upward from the right side of the table to a position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1727, "end_step": 1808, "id": "dbd334dd-29cf-4500-a68f-19956f0fa42a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white cylindrical object, moves it downward to seat it over the purple protruding peg on the wooden block base, opening fingers to release the object once it is stably supported by the base."}, {"label": "goal", "start_step": 1809, "end_step": 1890, "id": "2f79d99a-6f99-479f-b132-0ae180694e41"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and to the right across the table surface, approaching the green cubic block located in the lower right area of the table without making contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp_lift: Right hand closes fingers around the green cubic block to establish a stable grip, lifting the block upward slightly off the dark table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the green square block and moves it upward toward the top of the white cylindrical post on the wooden rack."}, {"label": "goal", "start_step": 1891, "end_step": 2028, "id": "e7667427-8fb3-463b-ac88-68d4f9aae2b7"}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the top of the white cylindrical post, lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens its fingers to release the green square block fitted onto the white cylindrical post."}, {"label": "home", "start_step": 2070, "end_step": 2095, "id": "K7V_G0O0HAIRNfl9HQgJ-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand stays at the left area of the table, remains empty, and gradually bends its fingers from an extended upward posture to a relaxed curled posture with no obvious wrist displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the front-left green hexagonal block on the table, adjusting finger posture as it approaches, with no contact made with the block during this period."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal block on the table, fingers close and make small adjustments to establish a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the green block, moves upward to lift the block fully off the recess on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted green block, moves horizontally to position the block directly over the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central opening of the green block with the purple post, lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the green block fitted on the purple post without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and leftward from the wooden pegboard area toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts wrist position and finger posture to close gradually around the targeted white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, making small positional adjustments while lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers a white hexagonal block onto a purple peg of the wooden base and releases the block when the block is stably supported on the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward toward a white hexagonal block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without observable movement."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it to the position directly above the target purple rod."}, {"label": "subtasks", "start_step": 592, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate_release: Right hand holds the white hexagonal nut, aligns it with the purple vertical rod on the wooden base to fit the nut onto the rod, opens fingers to release the mated nut."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand, empty, moves downward from the wooden base area toward the white hexagonal nut resting on the black table next to the base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut on the purple post."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple post on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green hexagonal block slightly, aligns its central hole with the purple rod, and presses it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: press: Right hand applies downward pressure on the green hexagonal block on the wooden peg to seat it fully on the underlying white block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves downward and rightward from the wooden base toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a hold on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving, maintaining a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface and moves it slightly toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it from the lower right area above the table to the position directly above the target vertical post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target vertical post on the wooden block assembly, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple vertical rod mounted on the wooden base, fingers opening to release the block as the block rests stably on the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface next to the wooden assembly base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and toward the purple rod fixed on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple rod on the wooden base without movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple rod and fit it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block with green ring onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it leftward and upward from the right side of the table to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: place_release: Right hand holds the white cylindrical object, moves it downward to seat it over the purple protruding peg on the wooden block base, opening fingers to release the object once it is stably supported by the base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: reach: Right hand moves empty downward and to the right across the table surface, approaching the green cubic block located in the lower right area of the table without making contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: grasp_lift: Right hand closes fingers around the green cubic block to establish a stable grip, lifting the block upward slightly off the dark table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: transport: Right hand holds the green square block and moves it upward toward the top of the white cylindrical post on the wooden rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the top of the white cylindrical post, lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left area of the table with curled fingers, no contact with any operating objects. | Right hand: release: Right hand opens its fingers to release the green square block fitted onto the white cylindrical post."}], "episode_index": 25}
+{"source_uid": "5cf942a696b2abb9", "num_frames": 2303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table to approach the front-left purple rod on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 164, "id": "8c4d1916-d54e-4f52-a037-91b7f52f108e"}, {"label": "valid", "start_step": 0, "end_step": 2277, "id": "Etioom5YkEtTjT1l4qTj_"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left purple rod on the wooden base and adjusts for a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand pulls the purple rod upward to lift it out of the hole in the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the purple rod downward to align with the central hole of the front-left green hexagonal ring on the table and inserts the rod into the ring."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the top of the leftmost purple peg."}, {"label": "goal", "start_step": 165, "end_step": 276, "id": "5be8013f-3b1b-4bf5-8e43-477cd483acee"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the wooden rack peg and releases the grip."}, {"label": "goal", "start_step": 277, "end_step": 370, "id": "edda5358-ff59-4d47-a9b2-62bac9a6baf3"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "goal", "start_step": 371, "end_step": 540, "id": "4adf8dca-1fa7-42a5-9f46-69574ab8507b"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg of the pegboard, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 541, "end_step": 634, "id": "593e5c9a-847e-48f1-be11-e112c137abc4"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward empty-handed toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "goal", "start_step": 635, "end_step": 776, "id": "4202d0ff-b20d-452a-ba70-cb685bc6af96"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand moves the white hexagonal part upward and leftward from the black table toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal part onto the leftmost purple rod and presses it down along the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the top of the leftmost purple peg."}, {"label": "goal", "start_step": 777, "end_step": 914, "id": "4ea6af8f-c9d7-4b97-a40f-0c782ecb079f"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing around the ring to adjust the grip."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the purple peg on the wooden rack."}, {"label": "goal", "start_step": 915, "end_step": 1114, "id": "9a97b632-d6f0-4ef3-9e4e-005fe140925d"}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it down to fit the peg through the block's central hole."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the middle purple peg of the wooden peg base."}, {"label": "goal", "start_step": 1115, "end_step": 1214, "id": "72fdfe40-a29a-4aa7-ad4c-94803abd5265"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the peg and moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1215, "end_step": 1342, "id": "7788c987-4515-4a95-8fc0-20a7cfc2e94f"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block toward the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1343, "end_step": 1452, "id": "624ab793-8c48-40ef-bed7-a2a5e6d1ea9c"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal hollow piece and moves it upward and leftward toward the wooden peg base."}, {"label": "goal", "start_step": 1453, "end_step": 1570, "id": "20b63f75-29ef-4a67-8e15-4e677eadd0b1"}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the peg on the wooden base and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow piece on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the green post of the wooden base and releases the block with fingers opening."}, {"label": "goal", "start_step": 1571, "end_step": 1676, "id": "1222b538-d1a3-46b0-b3fa-262f0ca4e486"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 1677, "end_step": 1788, "id": "c41035ff-a293-47e2-9e31-d800db6ed9a5"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1789, "end_step": 1872, "id": "f551a952-3085-4efe-8689-0690b8fc23cc"}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cubic block from the right side of the black table surface."}, {"label": "goal", "start_step": 1873, "end_step": 1988, "id": "e2d2a8f0-204c-4126-bde4-86d53a7a3186"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cubic block upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod on the front-right white bottle on the wooden board downward and releases the rod."}, {"label": "goal", "start_step": 1989, "end_step": 2082, "id": "7d462519-4ece-4e7d-b9d4-c9f9a128569e"}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table below the wooden board."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 2083, "end_step": 2230, "id": "9c2139e2-7c8f-4400-807b-926c607415e9"}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square ring off the table surface and transports it upward and rightward to the area above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green square ring with the purple rod on the rightmost bottle and fits the ring down onto the bottle."}, {"label": "home", "start_step": 2278, "end_step": 2302, "id": "rj1xU9dML1W3vYUc0FPvs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table to approach the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left purple rod on the wooden base and adjusts for a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand pulls the purple rod upward to lift it out of the hole in the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the purple rod downward to align with the central hole of the front-left green hexagonal ring on the table and inserts the rod into the ring."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg by sliding it downward along the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the wooden rack peg and releases the grip."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg of the pegboard, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward empty-handed toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand moves the white hexagonal part upward and leftward from the black table toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal part onto the leftmost purple rod and presses it down along the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing around the ring to adjust the grip."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it down to fit the peg through the block's central hole."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the middle purple peg of the wooden peg base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the peg and moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block toward the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal hollow piece and moves it upward and leftward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the peg on the wooden base and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow piece on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the green post of the wooden base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cubic block from the right side of the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cubic block upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod on the front-right white bottle on the wooden board downward and releases the rod."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table below the wooden board."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square ring off the table surface and transports it upward and rightward to the area above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green square ring with the purple rod on the rightmost bottle and fits the ring down onto the bottle."}], "episode_index": 26}
+{"source_uid": "48922c7ae450ca08", "num_frames": 2921, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the front-left purple rod on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "6ee6957e-4444-4dfe-ba10-0b73bd8865cb"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "GLnHD6CdMx5fqWjBKA0sD"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-left purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 147, "end_step": 288, "id": "eab3e279-44aa-41cb-9b91-a10ddf96a31d"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple rod and inserts the block onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the purple peg on the wooden base and transports it toward the black table surface."}, {"label": "goal", "start_step": 289, "end_step": 378, "id": "5e11b114-3972-4a2f-8bf0-4b9074fafaee"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block on the black table surface and releases the grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves to the white cylindrical block on the black table surface and adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal nut towards the purple peg on the assembly rack."}, {"label": "goal", "start_step": 379, "end_step": 518, "id": "b4e54ca4-7600-46b5-925c-9fdd6f9722a0"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 519, "end_step": 610, "id": "416f99ae-e2ee-449e-9428-8636ea6dffd8"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 611, "end_step": 714, "id": "1aa8aafd-ef47-44c0-b7bd-10f3456983dd"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 715, "end_step": 812, "id": "c5705d9f-ba0d-4d5f-831c-c250f58a1247"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to establish stable grip."}, {"label": "goal", "start_step": 813, "end_step": 908, "id": "997e6ac2-fe0f-4fa9-a1ef-ffd5e354642c"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it downwards."}, {"label": "goal", "start_step": 909, "end_step": 1002, "id": "48d8f001-ef74-437d-9c4c-31b19478b25b"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1003, "end_step": 1104, "id": "b0cd1dbb-7a4e-4b31-8674-b9a13e897bee"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the wooden tray with pegs."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the white peg on the wooden tray and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the white peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1105, "end_step": 1198, "id": "ec1d9dec-1a42-4679-8b98-cffd76452a58"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow cylinder on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 1199, "end_step": 1304, "id": "bc2ef9e9-02a8-4df6-83e8-dce2c448b210"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the target peg, adjusting its position to fit the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1305, "end_step": 1400, "id": "4edd9676-59f4-4ed1-abc8-dccacf66329a"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1401, "end_step": 1492, "id": "ccc32ee1-5c1c-4251-94ff-310b06311ae9"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple vertical rod on the wooden base and releases its grasp on the block."}, {"label": "goal", "start_step": 1493, "end_step": 1584, "id": "2c260e9b-2b07-4a0f-bfdf-5e92952bcc2b"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hollow block located on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the table surface."}, {"label": "goal", "start_step": 1585, "end_step": 1690, "id": "831629e2-8f7f-4ca8-8491-08da146e379c"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separate from it."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod into the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1691, "end_step": 1782, "id": "6d81e1e4-dd16-4bc5-a2b9-53083a2c1575"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1783, "end_step": 2862, "id": "06d591b4-8785-4e04-8152-175be609e32d"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden board area towards the fallen green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table and adjusts its grip posture."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2347, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table again."}, {"label": "subtasks", "start_step": 2348, "end_step": 2421, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block back to the right side of the table and places it."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building block with a purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2580, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the white building block."}, {"label": "subtasks", "start_step": 2745, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fit onto the white building block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white building block without moving."}, {"label": "home", "start_step": 2896, "end_step": 2920, "id": "ct-axiNvGqrt6TKRSmaFa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-left purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple rod and inserts the block onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the purple peg on the wooden base and transports it toward the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block on the black table surface and releases the grip on the block."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves to the white cylindrical block on the black table surface and adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal nut towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal nut with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to establish stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it downwards."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the wooden tray with pegs."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the white peg on the wooden tray and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the white peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow cylinder on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the target peg, adjusting its position to fit the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple vertical rod on the wooden base and releases its grasp on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hollow block located on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separate from it."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod into the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden board area towards the fallen green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table and adjusts its grip posture."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building blocks on the wooden board."}, {"label": "subtasks", "start_step": 2122, "end_step": 2347, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand attempts to mate the green block with a white building block, during which the green block falls onto the table again."}, {"label": "subtasks", "start_step": 2348, "end_step": 2421, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block back to the right side of the table and places it."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white building block with a purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2580, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the white building block."}, {"label": "subtasks", "start_step": 2745, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fit onto the white building block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white building block without moving."}], "episode_index": 27}
+{"source_uid": "aa506efbe5593c49", "num_frames": 2169, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position toward the green hexagonal block next to the wooden peg stand, fingers held slightly open during the approach."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "7879bcfd-b85e-403a-a451-f61902636862"}, {"label": "valid", "start_step": 0, "end_step": 2144, "id": "V78nQ5U2-e88IX21o1ewQ"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block next to the wooden peg stand, adjusting finger positions to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand grips the green block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 137, "end_step": 330, "id": "0f462316-78c5-4b0f-b80c-2e23c80eee30"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the lifted green block and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moves the block downward to fit it onto the peg until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and nests the block onto the purple peg of the wooden rack, with fingers opening to release the block settled on the peg."}, {"label": "goal", "start_step": 331, "end_step": 418, "id": "d38c559c-13b0-4445-b34f-b6340f2a5c8c"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block placed on the black table surface near the green block."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grip on the block."}, {"label": "goal", "start_step": 419, "end_step": 600, "id": "4b2c78d1-4b34-4d4d-ad21-a51b0f071986"}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it through the air to position it above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes slight orientation adjustments, and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block on the front table, approaching the target without making contact."}, {"label": "goal", "start_step": 601, "end_step": 702, "id": "b3600ac6-7ad4-4096-8b07-d86c019527d8"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily without observable movement of the hand or the block, which remains supported by the table."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes and adjusts fingers to establish a stable grasp on the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 703, "end_step": 826, "id": "5ce25920-dca8-496c-8d9e-cef260a5a94a"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position directly above the leftmost purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple rod and lowers the nut to fit onto the rod and connect with the green nut below it."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without visible movement of the hand, fingers or the grasped nut."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from above the wooden block rack toward the white hexagonal nut placed in front of the rack on the table, staying empty and approaching the target without contact."}, {"label": "goal", "start_step": 827, "end_step": 910, "id": "2b533d42-e7e7-4030-8b34-508286625a91"}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, fingers close and make slight adjustments to establish a grasp on the nut."}, {"label": "goal", "start_step": 911, "end_step": 1014, "id": "036fb048-6a77-4f92-b8c2-ce423a2321b0"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white block off the table surface and moves it upward to position above the empty purple peg on the wooden board."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the white block assembled on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the block as it settles on the peg."}, {"label": "goal", "start_step": 1015, "end_step": 1100, "id": "a2f2be8a-2a24-43d1-b43e-413d378c0551"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1101, "end_step": 1218, "id": "cc5e0bed-e40e-40e9-90af-b26dcc5eedcd"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple rod, fitting the block onto the rod to establish an assembled state."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple vertical rod of the wooden base, fingers opening to release the resting block."}, {"label": "goal", "start_step": 1219, "end_step": 1304, "id": "fa2914f4-d7e5-47f2-8855-0038a9a15c07"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, fingers held open in preparation for grasping."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds a white hexagonal nut above the black table surface with a stable grip, without any visible movement."}, {"label": "goal", "start_step": 1305, "end_step": 1428, "id": "22d8ee8c-10d5-4933-b590-930aea07f235"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the held white hexagonal nut completely off the black table surface and transports it upward and horizontally to a position directly above the purple vertical post on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical post, makes small rotational and positional adjustments to the nut, and lowers the nut to fit securely over the post onto the assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from above the wooden block stand, approaching the white hexagonal block next to the stand on the table while remaining empty."}, {"label": "goal", "start_step": 1429, "end_step": 1524, "id": "d7a35b5d-4bbc-4c60-ba34-9cce7c399b0f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the nearby white hexagonal block on the table, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface while holding it firmly."}, {"label": "goal", "start_step": 1525, "end_step": 1646, "id": "0da23948-cd7e-47a4-a771-c1b170be720a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand transports the held white hexagonal block toward the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple post and adjusts its position to fit onto the post."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to set it onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 1647, "end_step": 1738, "id": "b47feb9a-fe9c-400d-9087-1c92e716fcd1"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it completely leaves the black table surface."}, {"label": "goal", "start_step": 1739, "end_step": 1822, "id": "b5ca78e1-7bdd-4d1b-bb6e-d7eac79fa834"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the white hexagonal block leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple rod onto the supporting block below, and opens fingers to release the grasped block."}, {"label": "goal", "start_step": 1823, "end_step": 1908, "id": "c34717cc-d377-4985-8a19-bd84d2b3aea8"}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the small green cubic object resting on the table surface, fingers maintained in an open, extended shape."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes its fingers around the small green cubic object to form a stable grasp, the object remaining in contact with the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the green block from the dark table surface, with the block fully separated from the table by the end of the motion."}, {"label": "goal", "start_step": 1909, "end_step": 2096, "id": "07ef0515-80ea-4d3d-a883-875b826c2270"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the green block upward and toward the wooden rack, moving the block to the position directly above the target white post with a purple top."}, {"label": "subtasks", "start_step": 1942, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand adjusts the position of the green block to align its hole with the target post and fits the block onto the post to complete the assembly."}, {"label": "home", "start_step": 2145, "end_step": 2168, "id": "EHITXMmxn3Fj2sPKP5v-L"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position toward the green hexagonal block next to the wooden peg stand, fingers held slightly open during the approach."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block next to the wooden peg stand, adjusting finger positions to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand grips the green block resting on the table and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the lifted green block and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moves the block downward to fit it onto the peg until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and nests the block onto the purple peg of the wooden rack, with fingers opening to release the block settled on the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block placed on the black table surface near the green block."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers and adjusts contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it through the air to position it above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes slight orientation adjustments, and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal block on the front table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily without observable movement of the hand or the block, which remains supported by the table."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes and adjusts fingers to establish a stable grasp on the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position directly above the leftmost purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple rod and lowers the nut to fit onto the rod and connect with the green nut below it."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without visible movement of the hand, fingers or the grasped nut."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward from above the wooden block rack toward the white hexagonal nut placed in front of the rack on the table, staying empty and approaching the target without contact."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, fingers close and make slight adjustments to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white block off the table surface and moves it upward to position above the empty purple peg on the wooden board."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the white block assembled on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the block as it settles on the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple rod, fitting the block onto the rod to establish an assembled state."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple vertical rod of the wooden base, fingers opening to release the resting block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, fingers held open in preparation for grasping."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: hold: Right hand holds a white hexagonal nut above the black table surface with a stable grip, without any visible movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift_transport: Right hand lifts the held white hexagonal nut completely off the black table surface and transports it upward and horizontally to a position directly above the purple vertical post on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical post, makes small rotational and positional adjustments to the nut, and lowers the nut to fit securely over the post onto the assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from above the wooden block stand, approaching the white hexagonal block next to the stand on the table while remaining empty."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand contacts the nearby white hexagonal block on the table, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface while holding it firmly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand transports the held white hexagonal block toward the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple post and adjusts its position to fit onto the post."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to set it onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the white hexagonal block leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple rod onto the supporting block below, and opens fingers to release the grasped block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: reach: Right hand moves downward toward the small green cubic object resting on the table surface, fingers maintained in an open, extended shape."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: grasp: Right hand closes its fingers around the small green cubic object to form a stable grasp, the object remaining in contact with the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: lift: Right hand lifts the green block from the dark table surface, with the block fully separated from the table by the end of the motion."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: transport: Right hand carries the green block upward and toward the wooden rack, moving the block to the position directly above the target white post with a purple top."}, {"label": "subtasks", "start_step": 1942, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, making no contact with any operated object. | Right hand: mate: Right hand adjusts the position of the green block to align its hole with the target post and fits the block onto the post to complete the assembly."}], "episode_index": 28}
+{"source_uid": "9725686b2abf633b", "num_frames": 2174, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the component assembly on the wooden base, staying empty during the movement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "bd8397fa-b67a-4e08-9bcf-05b54bcdc8cc"}, {"label": "valid", "start_step": 0, "end_step": 2145, "id": "1jRIBokH_dNyY6wctv2W-"}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand approaches the green block near the wooden base, closes fingers to contact the block and makes fine adjustments to establish a grip."}, {"label": "goal", "start_step": 133, "end_step": 264, "id": "a6f4976c-729e-4cc5-82ba-a0d401ce0554"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the purple peg, lowering it to fit onto the peg in an assembly motion."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden pegboard until the block rests stably on the board surface, opening fingers to release the block."}, {"label": "goal", "start_step": 265, "end_step": 452, "id": "0e779cf8-a704-44ea-ad8f-2526a0773313"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the front white hexagonal block on the table, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 322, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block on the table, closing fingers to form a stable grasp on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the grasped white hexagonal nut and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 453, "end_step": 560, "id": "b07ed4fe-83ef-4467-811f-edc83e3cab3d"}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg and places it onto the green supporting block below."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the white hexagonal block on the purple peg of the assembly rack downward to secure it in place."}, {"label": "goal", "start_step": 561, "end_step": 636, "id": "8b38b304-d93b-492e-af2b-d473f8166b16"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a grip."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 637, "end_step": 790, "id": "faa1f6fc-7bcf-4597-8cbe-a495d9a4f0f8"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully raised off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady directly above the purple peg without movement."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward to slide it onto the purple peg, making small positional adjustments."}, {"label": "goal", "start_step": 791, "end_step": 876, "id": "db2fe225-bfae-48a9-bf12-2728e1def913"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers closing to establish grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily while the block remains supported by the table surface, no movement observed."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 877, "end_step": 964, "id": "6ef4ab3c-6fa9-4b4e-8e69-d8cd84e732dc"}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align with the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg, allowing the block to slide down to the base of the peg board."}, {"label": "goal", "start_step": 965, "end_step": 1050, "id": "02012128-2779-41f1-8e7d-a96f4cd59a20"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the peg board area toward the green square block on the table in front of the peg board, with an empty hand before contacting the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the stably grasped green square block and lifts it upward, moving the block away from the table support surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers to form a stable grip on the green hexagonal block resting on the table near the wooden block base."}, {"label": "goal", "start_step": 1051, "end_step": 1146, "id": "02b012c9-f601-4ec2-b61a-7200ebe2e311"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod, moving it downward to place it onto the existing stacked blocks on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the corresponding wooden peg on the wooden assembly base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1147, "end_step": 1222, "id": "943c9830-6f21-49ef-854c-c7f3bbf3109d"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip."}, {"label": "goal", "start_step": 1223, "end_step": 1320, "id": "ea6f78b7-d01c-4350-bf0c-df1bc5b7f27c"}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the rack and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the misaligned white hexagonal block on the purple rod downward to seat it properly on the supporting green block."}, {"label": "goal", "start_step": 1321, "end_step": 1422, "id": "e76c59bb-6571-4a12-9cb4-797d98333bcc"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the stacked block assembly toward the loose white hexagonal nut on the table next to the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small adjustments to finger positions to establish contact with the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1423, "end_step": 1544, "id": "0b00e179-214e-420a-bb8e-aa922662d710"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the top of the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod to set it onto the white nut below, where the nut is stably supported."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty from the area next to the purple rod on the wooden rack downward toward the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 1545, "end_step": 1630, "id": "275884b9-cd97-482a-92e9-b35525d9f7a6"}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely separated from the black table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1776, "id": "8415b72a-5e5b-4747-ae16-c8d88ff5466c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the lifted white hexagonal nut and moves it horizontally to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal nut and makes slight positional and angular adjustments to align the nut's central hole with the purple rod below for nesting assembly."}, {"label": "goal", "start_step": 1777, "end_step": 1976, "id": "9fd228f3-bb82-48d4-9ef2-ffc3b668e550"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal piece, fully separating fingers from the piece by the end of the segment."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green cubic block on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped green block upward from the black table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2086, "id": "9c75bb54-1499-405b-9df6-039e975605e4"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden tray and inserts it into the slot until stably positioned."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the inserted green block, separating fingers from the block surface."}, {"label": "home", "start_step": 2146, "end_step": 2173, "id": "hk_So3UkeSzKVtfuX5x_6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the component assembly on the wooden base, staying empty during the movement."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand approaches the green block near the wooden base, closes fingers to contact the block and makes fine adjustments to establish a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the purple peg, lowering it to fit onto the peg in an assembly motion."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the held green hexagonal block onto the purple peg of the wooden pegboard until the block rests stably on the board surface, opening fingers to release the block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the front white hexagonal block on the table, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 322, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block on the table, closing fingers to form a stable grasp on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the grasped white hexagonal nut and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg and places it onto the green supporting block below."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the white hexagonal block on the purple peg of the assembly rack downward to secure it in place."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to form a grip."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully raised off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the aligned white hexagonal nut steady directly above the purple peg without movement."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward to slide it onto the purple peg, making small positional adjustments."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers closing to establish grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily while the block remains supported by the table surface, no movement observed."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align with the purple peg, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg, allowing the block to slide down to the base of the peg board."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the peg board area toward the green square block on the table in front of the peg board, with an empty hand before contacting the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the stably grasped green square block and lifts it upward, moving the block away from the table support surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers to form a stable grip on the green hexagonal block resting on the table near the wooden block base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod, moving it downward to place it onto the existing stacked blocks on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the corresponding wooden peg on the wooden assembly base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the rack and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: press: Right hand presses the misaligned white hexagonal block on the purple rod downward to seat it properly on the supporting green block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the stacked block assembly toward the loose white hexagonal nut on the table next to the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small adjustments to finger positions to establish contact with the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the top of the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod to set it onto the white nut below, where the nut is stably supported."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty from the area next to the purple rod on the wooden rack downward toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand holds the lifted white hexagonal nut and moves it horizontally to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand holds the white hexagonal nut and makes slight positional and angular adjustments to align the nut's central hole with the purple rod below for nesting assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal piece, fully separating fingers from the piece by the end of the segment."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green cubic block on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped green block upward from the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: transport: Right hand carries the lifted green block toward the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden tray and inserts it into the slot until stably positioned."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the inserted green block, separating fingers from the block surface."}], "episode_index": 29}
+{"source_uid": "14f44312b5330a51", "num_frames": 3087, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located in front of the wooden rack with purple pegs."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "07169139-e97f-4332-860e-4473bbf9cfd2"}, {"label": "valid", "start_step": 0, "end_step": 3057, "id": "VjISGpql2hLlbbPnFA2eD"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and grasps the green block in front of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block with purple rod off the black table surface."}, {"label": "goal", "start_step": 133, "end_step": 231, "id": "eafc8b36-0bae-4ec2-8557-37179ff0697a"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block with purple rod to the position above the leftmost hole of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the purple rod of the green block with the leftmost hole of the wooden base and inserts it into the hole."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the inserted green block with purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white ring upward to remove it from the purple peg."}, {"label": "goal", "start_step": 232, "end_step": 303, "id": "2bcb5141-41a2-4055-bcb9-c8017b2bf77a"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring downward toward the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring on the black table and releases the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white ring on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal sleeve from the green support on the black table."}, {"label": "goal", "start_step": 304, "end_step": 429, "id": "54d863dd-0120-4177-be60-c5016370d5d2"}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve to the position above the front-left purple post of the wooden fixture."}, {"label": "subtasks", "start_step": 330, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve onto the front-left purple post of the wooden fixture."}, {"label": "goal", "start_step": 430, "end_step": 708, "id": "7148f545-001d-4bb9-9516-2a14b6d8ca94"}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the purple peg on the green base of the wooden rack."}, {"label": "goal", "start_step": 709, "end_step": 876, "id": "a9984597-571b-4300-a02d-63b1eea87e0c"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg until it is fully seated on the green base."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 877, "end_step": 975, "id": "46cb6a45-203d-4625-82b2-1e90221f0458"}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 976, "end_step": 1251, "id": "f42220e1-af26-4261-afff-dbc937565cb4"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white block towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the middle purple rod on the wooden base and adjusts it to stay stable."}, {"label": "goal", "start_step": 1252, "end_step": 1353, "id": "5db59778-a6ae-4970-9081-55caf561c834"}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black tabletop."}, {"label": "goal", "start_step": 1354, "end_step": 1446, "id": "6dffb42d-a87e-4d75-9619-689885ba0aa5"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target purple rod, lowering it to fit onto the rod."}, {"label": "goal", "start_step": 1447, "end_step": 1533, "id": "c10aec4d-04e2-421c-b4a0-1c46bdb10c63"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1534, "end_step": 1632, "id": "f080a3e9-1d06-40d7-955b-b829a1dab3d6"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1633, "end_step": 1716, "id": "6560c4bd-8238-4699-b13b-3fe5d9b8dd41"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface near the wooden rack."}, {"label": "goal", "start_step": 1717, "end_step": 1848, "id": "26850c19-a8f2-44a6-b421-bc638037159d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block and fingers move away from the block."}, {"label": "goal", "start_step": 1849, "end_step": 1923, "id": "71f8c3f9-792c-44c8-a5a5-bf5c48883635"}, {"label": "subtasks", "start_step": 1860, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the building block on the wooden base toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black desktop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black desktop with fingers closing around the block."}, {"label": "goal", "start_step": 1924, "end_step": 2082, "id": "349bb1c1-236e-4d3d-b026-b00ae9b32749"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden rack on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden rack without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the right side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2083, "end_step": 2319, "id": "419b8920-fb6e-4394-9999-99e5696a6df7"}, {"label": "subtasks", "start_step": 2152, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base until the block is stably supported."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach_grasp: Right hand reaches toward the green cubic block on the table surface and then grasps it."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 2320, "end_step": 3006, "id": "efb2fea8-d158-4cf7-b355-296f78acb636"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2385, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle."}, {"label": "subtasks", "start_step": 2535, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle repeatedly to adjust its position."}, {"label": "subtasks", "start_step": 2895, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the previous white bottle and transports it above another white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the target white bottle to fit properly."}, {"label": "home", "start_step": 3058, "end_step": 3086, "id": "4sp5Fp4qR5aOvO4jrTIea"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green block located in front of the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and grasps the green block in front of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block with purple rod off the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block with purple rod to the position above the leftmost hole of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the purple rod of the green block with the leftmost hole of the wooden base and inserts it into the hole."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the inserted green block with purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white ring upward to remove it from the purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring downward toward the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring on the black table and releases the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white ring on the black table."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal sleeve from the green support on the black table."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve to the position above the front-left purple post of the wooden fixture."}, {"label": "subtasks", "start_step": 330, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve onto the front-left purple post of the wooden fixture."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the purple peg on the green base of the wooden rack."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg until it is fully seated on the green base."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_lift: Right hand grasps the white block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white block towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the middle purple rod on the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface near the wooden rack."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block and fingers move away from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats from the building block on the wooden base toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black desktop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black desktop with fingers closing around the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden rack on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden rack without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the right side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2152, "end_step": 2241, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base until the block is stably supported."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach_grasp: Right hand reaches toward the green cubic block on the table surface and then grasps it."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2385, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle."}, {"label": "subtasks", "start_step": 2535, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle repeatedly to adjust its position."}, {"label": "subtasks", "start_step": 2895, "end_step": 2939, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the previous white bottle and transports it above another white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the target white bottle."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the target white bottle to fit properly."}], "episode_index": 30}
+{"source_uid": "8a84e1ed14eae905", "num_frames": 1910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial raised right position toward the front-left green hexagonal block near the wooden peg stand, staying empty."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "f7894796-7d4c-47ad-820e-fee4d26e0a85"}, {"label": "valid", "start_step": 0, "end_step": 1882, "id": "JqoDlxlFGHs2GRYhpi3M7"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table surface, adjusting finger contact to establish a grip while the block remains supported by the table."}, {"label": "goal", "start_step": 113, "end_step": 212, "id": "0505e069-525f-4c8c-b419-b6bf4165b64c"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the table surface and moves it upward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and slides the block downward to fit securely onto the post."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple post, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, placing it onto the wooden pegboard base."}, {"label": "goal", "start_step": 213, "end_step": 290, "id": "a278d8fe-a922-4e38-9924-641d412ce69c"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "goal", "start_step": 291, "end_step": 382, "id": "04ed096d-fb30-4c09-93d8-065cb78c184e"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg above the green block."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the left purple peg on the wooden base until it rests on the underlying green block, then releases the block."}, {"label": "goal", "start_step": 383, "end_step": 472, "id": "877b18bf-f454-4e1e-acad-e7dfcdee44a1"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal block on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the front-left white hexagonal block on the table, closing fingers and adjusting contact points to establish a stable grasp."}, {"label": "goal", "start_step": 473, "end_step": 564, "id": "e3dbbf8b-8b58-48f7-843c-cbe3472b62e1"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward to seat the block stably on the purple peg of the assembly base, opens fingers to release the supported block."}, {"label": "goal", "start_step": 565, "end_step": 722, "id": "bfdb8c7d-e330-4454-865b-f42f967c111d"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base to approach the target."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusts finger positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand grips the white hexagonal block and moves upward to raise the block from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple wooden peg on the wooden assembly base."}, {"label": "goal", "start_step": 723, "end_step": 840, "id": "5b29393d-3efb-48f6-93ac-76b928187218"}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple wooden peg below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple wooden peg to rest on the wooden assembly base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 841, "end_step": 910, "id": "648e7f8d-4390-4559-a12e-7e657732c9bd"}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 911, "end_step": 1026, "id": "08f8d5cf-e257-4c74-8298-807d52fd8631"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 952, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg for assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block on the purple peg until it rests stably on the green block below and releases contact with the block."}, {"label": "goal", "start_step": 1027, "end_step": 1096, "id": "3569b112-1271-48ec-98b4-3fd4d38d54aa"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "goal", "start_step": 1097, "end_step": 1222, "id": "e8013355-c549-4849-b756-881908e4bab0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it up and left toward the wooden assembly base until the nut is positioned directly above the purple rod on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, makes slight positional adjustments to align the nut's hole with the purple rod, and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base, fits the block onto the rod and releases it."}, {"label": "goal", "start_step": 1223, "end_step": 1298, "id": "c1db7d44-9caf-4431-85d6-ce0c265a520d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach_grasp: Right hand moves empty downward to the white hexagonal block on the table to the right of the wooden base, closes fingers around the block and adjusts grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden block."}, {"label": "goal", "start_step": 1299, "end_step": 1384, "id": "eef2547f-93f2-4e76-ba86-599e9bc1d232"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moves the nut downward to sleeve it onto the rod and slide along the rod toward the base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand presses the white cylindrical block onto the purple rod of the wooden stand to seat it, releasing its grip as the block becomes fully supported."}, {"label": "goal", "start_step": 1385, "end_step": 1454, "id": "a05896cc-cb5e-4002-8c7a-6f7f234b0092"}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1455, "end_step": 1556, "id": "79035fa9-7212-4e63-bfe5-270e590ee227"}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upward to the position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the top of the purple rod, adjusting its position to align the block's hole with the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: press: Right hand presses the top of the white cylindrical cap on the purple rod vertically downward until the cap is seated in place."}, {"label": "goal", "start_step": 1557, "end_step": 1632, "id": "8e024408-c11c-4bc9-a788-4ad5bae665b4"}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the cap position toward the green cubic block on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers closing around the block to establish a grasp."}, {"label": "goal", "start_step": 1633, "end_step": 1840, "id": "4fe47c9c-93eb-422f-b921-635b59cf8712"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden bottle tray, positioning the block directly above the exposed purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod below, moving the block slightly downward to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the aligned green hexagonal block further downward until the block rests stably on the top surface of the white bottle cap beneath it."}, {"label": "home", "start_step": 1883, "end_step": 1909, "id": "wG0hB3kmIYbLWipY4uyR9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial raised right position toward the front-left green hexagonal block near the wooden peg stand, staying empty."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table surface, adjusting finger contact to establish a grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the table surface and moves it upward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and slides the block downward to fit securely onto the post."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple post, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg, placing it onto the wooden pegboard base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg above the green block."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the left purple peg on the wooden base until it rests on the underlying green block, then releases the block."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal block on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the front-left white hexagonal block on the table, closing fingers and adjusting contact points to establish a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward to seat the block stably on the purple peg of the assembly base, opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base to approach the target."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusts finger positions to form a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand grips the white hexagonal block and moves upward to raise the block from the table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple wooden peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple wooden peg below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down along the purple wooden peg to rest on the wooden assembly base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 952, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg for assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block on the purple peg until it rests stably on the green block below and releases contact with the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it up and left toward the wooden assembly base until the nut is positioned directly above the purple rod on the base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, makes slight positional adjustments to align the nut's hole with the purple rod, and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base, fits the block onto the rod and releases it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach_grasp: Right hand moves empty downward to the white hexagonal block on the table to the right of the wooden base, closes fingers around the block and adjusts grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moves the nut downward to sleeve it onto the rod and slide along the rod toward the base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place_release: Right hand presses the white cylindrical block onto the purple rod of the wooden stand to seat it, releasing its grip as the block becomes fully supported."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and carries it upward to the position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the top of the purple rod, adjusting its position to align the block's hole with the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: press: Right hand presses the top of the white cylindrical cap on the purple rod vertically downward until the cap is seated in place."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the cap position toward the green cubic block on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden bottle tray, positioning the block directly above the exposed purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod below, moving the block slightly downward to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement. | Right hand: place: Right hand moves the aligned green hexagonal block further downward until the block rests stably on the top surface of the white bottle cap beneath it."}], "episode_index": 31}
+{"source_uid": "13b31bff4e522c9d", "num_frames": 2335, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block below the left of the pegboard."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "7a4d4254-6fe3-4486-b480-eac73a1e3f56"}, {"label": "valid", "start_step": 0, "end_step": 2312, "id": "xo18tgXAQd0jV-maQCdee"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position below the leftmost purple peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the leftmost purple peg by aligning the block hole with the peg and inserting the peg into it."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block up from the black work surface."}, {"label": "goal", "start_step": 221, "end_step": 346, "id": "d7d54f68-4a72-4fc5-902b-695cfee441bd"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost rear peg of the wooden peg rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost rear peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost rear peg of the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 347, "end_step": 530, "id": "60db1a34-d59a-457b-aa1c-f384ced2f68a"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 531, "end_step": 654, "id": "d1ec454a-ea3f-4a80-82b1-c4e2b55fd947"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, moving the nut downwards to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 655, "end_step": 780, "id": "7e0f7c1d-b781-4a07-bedc-b036aab6f005"}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach_grasp: Right hand reaches toward and grasps the white hexagonal block on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the wooden rack with purple vertical posts."}, {"label": "goal", "start_step": 781, "end_step": 892, "id": "9e3eac14-493c-4ca8-ab1f-7ffab8bbb5e2"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base by moving it downward, and releases the ring once it is fitted."}, {"label": "goal", "start_step": 893, "end_step": 982, "id": "8d3aafae-2776-4c86-aa6f-ab2cf5acff92"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece above the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 983, "end_step": 1118, "id": "e477f3c2-b7c7-4459-b156-1776d61bed56"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden base by lowering the part down along the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1119, "end_step": 1234, "id": "d1f34e8d-1cdf-4bc2-8f39-bf7d022cd7a5"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the middle peg on the wooden base."}, {"label": "goal", "start_step": 1235, "end_step": 1370, "id": "2bc5854e-ddcb-42a4-9be0-bb5fa4fcaa35"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1371, "end_step": 1446, "id": "8b73afc9-a590-4f96-ac13-0d0974cf75af"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1447, "end_step": 1582, "id": "ea46d72d-8f03-43ad-af49-646ecbb070ae"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the table and transports it leftward and upward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical part with the purple peg on the wooden rack, adjusting position and pressing downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple vertical post on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1583, "end_step": 1682, "id": "1bc362a5-39cf-46aa-9dc1-269cc3daf5c5"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing and adjusting around the piece."}, {"label": "goal", "start_step": 1683, "end_step": 1810, "id": "5354f61c-5ac8-46ff-959b-acd9505661f8"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the purple cylindrical piece on the rightmost slot of the wooden base, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 1811, "end_step": 1904, "id": "debb950c-ff7e-48c9-81af-8c19f4d42d4b"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "goal", "start_step": 1905, "end_step": 2020, "id": "7dbd0a4c-e975-48aa-924a-277661b6d565"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring off the black table and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring with the purple rod, lowering the ring down the rod until it is fully seated."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand fits the held small component onto the top of the front-right white column on the wooden base and releases the grip."}, {"label": "goal", "start_step": 2021, "end_step": 2130, "id": "b52e94bb-03ea-4de4-a176-b994ca087e4b"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table and adjusts the grip to be stable."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green square block upward away from the table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2264, "id": "224e7780-c334-43a3-b80c-3116dffe9810"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block leftward to above the rightmost column of the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white pillar of the test tube rack by moving it downward."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the rightmost white pillar without moving."}, {"label": "home", "start_step": 2313, "end_step": 2334, "id": "PR6ybjefU94sCZ5H5-qGP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green cubic block below the left of the pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green cubic block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position below the leftmost purple peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cubic block with the leftmost purple peg by aligning the block hole with the peg and inserting the peg into it."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block up from the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost rear peg of the wooden peg rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost rear peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost rear peg of the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to above the leftmost purple peg of the rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, moving the nut downwards to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach_grasp: Right hand reaches toward and grasps the white hexagonal block on the black table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it toward the wooden rack with purple vertical posts."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple post of the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple peg of the wooden base by moving it downward, and releases the ring once it is fitted."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece above the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden base by lowering the part down along the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the middle peg on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand fits the white ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part from the table and transports it leftward and upward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical part with the purple peg on the wooden rack, adjusting position and pressing downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple vertical post on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on top of the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the purple cylindrical piece on the rightmost slot of the wooden base, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring off the black table and moves it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring with the purple rod, lowering the ring down the rod until it is fully seated."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate_release: Right hand fits the held small component onto the top of the front-right white column on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table and adjusts the grip to be stable."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green square block upward away from the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block leftward to above the rightmost column of the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white pillar of the test tube rack by moving it downward."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the rightmost white pillar without moving."}], "episode_index": 32}
+{"source_uid": "66fce690da73ae1b", "num_frames": 2449, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-left purple rod of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "6748849a-590e-4235-9737-fe3b974bd974"}, {"label": "valid", "start_step": 0, "end_step": 2422, "id": "4WDPSS1jN_G4vdEzYpESs"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block and adjusts grip to stable state."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand pulls the white hexagonal block upward to separate it from the purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand carries the separated white hexagonal block downward away from the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 135, "end_step": 384, "id": "1efc44eb-8789-4a4f-8b01-d91dcb933a72"}, {"label": "subtasks", "start_step": 150, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden base, adjusting its position to fit securely on the peg."}, {"label": "goal", "start_step": 385, "end_step": 462, "id": "6738939b-2358-42ee-91a8-109fe7b6bd27"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the leftmost purple rod of the wooden bracket."}, {"label": "goal", "start_step": 463, "end_step": 634, "id": "ef038d68-dadf-4990-b7b4-97f2e434209f"}, {"label": "subtasks", "start_step": 488, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting its position to fit down the rod properly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 635, "end_step": 712, "id": "95b255a1-b924-4101-9fba-085225be391a"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 713, "end_step": 802, "id": "940febd5-b500-4966-9e22-4920048a8916"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 803, "end_step": 888, "id": "658fcc04-1caf-48f4-bfca-370ff4df0e05"}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 889, "end_step": 1004, "id": "533a50cd-5ce3-4277-ba0e-29c9e0e03fb9"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hollow cylindrical block upwards, away from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hollow cylindrical block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the purple rod, pressing it down to fit in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1005, "end_step": 1098, "id": "ec49da3c-6936-49d4-b346-b651757f0a4a"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a stable grasp."}, {"label": "goal", "start_step": 1099, "end_step": 1206, "id": "89c66e36-bf58-4455-bb28-70520c8a6e32"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1280, "id": "b069cc5f-1409-42bb-9c5d-1fb88a28ace9"}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the black tabletop."}, {"label": "goal", "start_step": 1281, "end_step": 1604, "id": "c4ae7ad8-9400-4010-985c-20ae10e9aea3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps and adjusts its hold on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base block set."}, {"label": "goal", "start_step": 1605, "end_step": 1750, "id": "171e8b2c-b05a-46b3-b668-a3d90c8bbc34"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the black table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1751, "end_step": 1876, "id": "4301bec5-ec07-488b-a4a1-7813f2673adb"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1877, "end_step": 1970, "id": "f4901294-2eb4-4ce9-8c6c-cb29eea2fdb0"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white annular object towards the purple pole on the central wooden base."}, {"label": "goal", "start_step": 1971, "end_step": 2118, "id": "3e4f41e0-e532-4299-87ed-0c75e9875818"}, {"label": "subtasks", "start_step": 1995, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate_release: Right hand fits the white annular object onto the purple pole on the wooden base and releases the grip once the object is positioned."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white sleeve onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 2119, "end_step": 2202, "id": "a777c508-d034-4a25-a3ad-6d48714361f6"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table surface."}, {"label": "goal", "start_step": 2203, "end_step": 2372, "id": "0a936a49-b252-4bcc-87e5-ce650a0bc3ed"}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block to the position above the rightmost white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white pillar by aligning the hole of the block with the pillar."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down along the white pillar until it fits tightly."}, {"label": "home", "start_step": 2423, "end_step": 2448, "id": "W1i8cnRMBdLCAo6SQET-U"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block and adjusts grip to stable state."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand pulls the white hexagonal block upward to separate it from the purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand carries the separated white hexagonal block downward away from the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden base, adjusting its position to fit securely on the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the leftmost purple rod of the wooden bracket."}, {"label": "subtasks", "start_step": 488, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting its position to fit down the rod properly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the white hollow cylindrical block upwards, away from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white hollow cylindrical block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the purple rod, pressing it down to fit in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps and adjusts its hold on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base block set."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the black table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the white annular object towards the purple pole on the central wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate_release: Right hand fits the white annular object onto the purple pole on the wooden base and releases the grip once the object is positioned."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the white sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand transports the green block to the position above the rightmost white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white pillar by aligning the hole of the block with the pillar."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: press: Right hand presses the green block down along the white pillar until it fits tightly."}], "episode_index": 33}
+{"source_uid": "8e410c18b3167bd2", "num_frames": 3716, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards and leftwards from its initial raised position on the right side of the table, approaching the green hexagonal nut in front-left of the wooden peg rack, with fingers kept extended."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "e1d9ddf9-a664-4d3b-86e5-99d65ef683fc"}, {"label": "valid", "start_step": 0, "end_step": 3696, "id": "xzN7sdTvQE170g5y8w93_"}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal nut on the table, closing fingers and adjusting wrist position to form a grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand holds the green hexagonal block on the table surface and lifts it upward until the block is fully off the table."}, {"label": "goal", "start_step": 131, "end_step": 464, "id": "b230dc31-c5b5-4379-8abc-4bc1701af8e0"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 158, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block, aligns its central hole with the purple peg, and lowers it to nest onto the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block that is fully nested on the purple peg with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses down on the top of the green hexagonal block on the purple wooden peg to secure it in place."}, {"label": "goal", "start_step": 465, "end_step": 556, "id": "9688720c-f763-43ba-996d-afa8b9fc03c8"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it off the table surface."}, {"label": "goal", "start_step": 557, "end_step": 684, "id": "199a07e5-32e7-4bc7-b504-27ff57fd1c1c"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden assembly base, moving the nut directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple post, fitting the hole onto the post tip."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post, placing the nut onto the post where it is supported by the post surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the purple post without moving, maintaining a stable closed grip around the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place the block onto the purple peg of the wooden block stand until the block is stably supported, opens fingers to release contact with the block."}, {"label": "goal", "start_step": 685, "end_step": 760, "id": "b7c90dca-fa69-4bb5-9450-4bb2cf98e1cc"}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish contact and form a grasp."}, {"label": "goal", "start_step": 761, "end_step": 886, "id": "90b3d635-6a27-494e-98bb-276a4218db0e"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal nut vertically along the purple peg until the nut rests steadily on the green block fixed on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach_grasp: Right hand moves downward from the area above the wooden peg stand toward the white hexagonal nut on the table near the stand, with fingers closing around the nut to form a stable grasp."}, {"label": "goal", "start_step": 887, "end_step": 954, "id": "b50c869e-5b03-43e7-9128-845dfa2d87de"}, {"label": "goal", "start_step": 955, "end_step": 1070, "id": "4f513729-824f-46ae-bc5f-2e11053399be"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg, with slight wrist adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 1071, "end_step": 1146, "id": "1a9ba31b-5139-452d-9bc8-08e55a72b230"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 1147, "end_step": 1292, "id": "3a95c0e1-900d-4042-8583-da95fd04d584"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod until the block is stably supported by the white hexagonal block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand positions the green block onto the purple rod of the wooden stand and opens fingers to release the block, leaving the block supported by the rod."}, {"label": "goal", "start_step": 1293, "end_step": 1388, "id": "8146f04e-a150-4c82-8a6e-1c1c34c180c6"}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards with an open hand towards the white hexagonal block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand moves upward while gripping the white hexagonal block, lifting the block completely off the table surface."}, {"label": "goal", "start_step": 1389, "end_step": 1504, "id": "b303508e-08a0-488b-a433-3932c90d0edc"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hollow cylindrical block and moves it upward and forward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg on the wooden base and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses the top of the white hexagonal block on the stacking base to push it down into a secured vertical position."}, {"label": "goal", "start_step": 1505, "end_step": 1592, "id": "b922c6fe-5c7b-4109-b84b-dfcafb3a80a3"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position directly above the purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1593, "end_step": 1892, "id": "c32865dd-c469-4f9d-8f49-79a40d6f7491"}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it down and right to the position above the short white rod on the wooden stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the short white rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the short white rod without visible movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple rod on the wooden base until the block is supported by the rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1893, "end_step": 1998, "id": "b636f07b-1cef-4dab-be6a-caf2a97c2173"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, curls and closes fingers around the nut to form a grasp, with minor adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface until the block fully separates from the table."}, {"label": "goal", "start_step": 1999, "end_step": 2434, "id": "3cb4d3fc-c5ae-4805-a86f-7cc0da0f0043"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block forward to position it above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block that fell onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block upward and back toward the wooden rack, positioning it above the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2429, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand extends the index finger to press down on the purple-topped white cylinder placed on the wooden block tray."}, {"label": "goal", "start_step": 2435, "end_step": 2520, "id": "51151729-c467-4b72-93d0-6e6b0b8a6ae3"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward and rightward with open fingers, approaching the small green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the small green square block, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green block steady on the dark table surface without moving."}, {"label": "goal", "start_step": 2521, "end_step": 3646, "id": "30409561-edf0-4e2f-8da3-ed2c39bc173c"}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand holds the green block, aligns its central hole with the purple post, adjusts position slightly to attempt fitting the block onto the post."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the misaligned green block away from the wooden base, moving it back down toward the table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2737, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block to rest on the table surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2738, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: idle: Right hand remains empty next to the green block on the table without moving."}, {"label": "subtasks", "start_step": 2820, "end_step": 2887, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting grip to hold the block securely."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2918, "end_step": 3127, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's central hole with the purple post, adjusts angle and position to attempt fitting, opening fingers to release the block which falls onto the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3231, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty toward the green block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3261, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the fallen green block to establish a stable grip."}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green block back to its original position on the table."}, {"label": "subtasks", "start_step": 3278, "end_step": 3367, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle to stabilize grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3411, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple post."}, {"label": "subtasks", "start_step": 3412, "end_step": 3659, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's hole with the purple post, lowers the block to fit it securely onto the post with small positional adjustments, opening fingers to release the properly seated block."}, {"label": "home", "start_step": 3697, "end_step": 3715, "id": "PG3_li-F1Gxo_JWF7jz8I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards and leftwards from its initial raised position on the right side of the table, approaching the green hexagonal nut in front-left of the wooden peg rack, with fingers kept extended."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal nut on the table, closing fingers and adjusting wrist position to form a grip on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand holds the green hexagonal block on the table surface and lifts it upward until the block is fully off the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 158, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block, aligns its central hole with the purple peg, and lowers it to nest onto the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block that is fully nested on the purple peg with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses down on the top of the green hexagonal block on the purple wooden peg to secure it in place."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it off the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden assembly base, moving the nut directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut to align its central hole with the top of the purple post, fitting the hole onto the post tip."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post, placing the nut onto the post where it is supported by the post surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the purple post without moving, maintaining a stable closed grip around the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place the block onto the purple peg of the wooden block stand until the block is stably supported, opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal nut vertically along the purple peg until the nut rests steadily on the green block fixed on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach_grasp: Right hand moves downward from the area above the wooden peg stand toward the white hexagonal nut on the table near the stand, with fingers closing around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and moves the nut downward to fit it onto the peg, with slight wrist adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod until the block is stably supported by the white hexagonal block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand positions the green block onto the purple rod of the wooden stand and opens fingers to release the block, leaving the block supported by the rod."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downwards with an open hand towards the white hexagonal block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand moves upward while gripping the white hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hollow cylindrical block and moves it upward and forward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg on the wooden base and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand presses the top of the white hexagonal block on the stacking base to push it down into a secured vertical position."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal block to align its central hole with the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it down and right to the position above the short white rod on the wooden stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the short white rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the short white rod without visible movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple rod on the wooden base until the block is supported by the rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, curls and closes fingers around the nut to form a grasp, with minor adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block forward to position it above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block that fell onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the white hexagonal block upward and back toward the wooden rack, positioning it above the purple rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2429, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: press: Right hand extends the index finger to press down on the purple-topped white cylinder placed on the wooden block tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves downward and rightward with open fingers, approaching the small green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the small green square block, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: hold: Right hand holds the green block steady on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate: Right hand holds the green block, aligns its central hole with the purple post, adjusts position slightly to attempt fitting the block onto the post."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the misaligned green block away from the wooden base, moving it back down toward the table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2737, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block to rest on the table surface, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2738, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: idle: Right hand remains empty next to the green block on the table without moving."}, {"label": "subtasks", "start_step": 2820, "end_step": 2887, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting grip to hold the block securely."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2918, "end_step": 3127, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's central hole with the purple post, adjusts angle and position to attempt fitting, opening fingers to release the block which falls onto the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3231, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: reach: Right hand moves empty toward the green block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3261, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the fallen green block to establish a stable grip."}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green block back to its original position on the table."}, {"label": "subtasks", "start_step": 3278, "end_step": 3367, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: grasp: Right hand adjusts finger positions and wrist angle to stabilize grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3411, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to position above the purple post."}, {"label": "subtasks", "start_step": 3412, "end_step": 3659, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with fingers extended, without contacting any operational objects. | Right hand: mate_release: Right hand aligns the green block's hole with the purple post, lowers the block to fit it securely onto the post with small positional adjustments, opening fingers to release the properly seated block."}], "episode_index": 34}
+{"source_uid": "06ab3a685c405092", "num_frames": 2816, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table, with fingers opening and tilting forward slightly. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "002c5874-11a0-4220-8e54-9d90329cc4ea"}, {"label": "valid", "start_step": 0, "end_step": 2786, "id": "UTawXuArprT8JyL0KLtY1"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table surface and mates it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost purple peg of the wooden rack."}, {"label": "goal", "start_step": 123, "end_step": 274, "id": "027f41fc-04a7-4c53-8b21-32c2d6612b3f"}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green block, then releases the block."}, {"label": "goal", "start_step": 275, "end_step": 390, "id": "252f3b49-5ea5-4493-9dfd-fb82dcd6ca5d"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left-middle area of the table."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it to the position above the leftmost purple rod on the wooden rack."}, {"label": "goal", "start_step": 391, "end_step": 546, "id": "282aa848-e2c0-4ce1-953a-364b89ee91d2"}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod by lowering it down the rod to the green base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 547, "end_step": 632, "id": "7c8552a2-1310-4059-ad80-685284640182"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the white hexagonal block on the left side of the black table surface."}, {"label": "goal", "start_step": 633, "end_step": 762, "id": "da9620b9-a3a1-4fdf-ba95-b27a435ed25f"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by lowering it down to fit on the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the left front peg of the wooden base, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 763, "end_step": 844, "id": "04e23180-2c5c-4f6b-8680-134232d014f1"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden base, with fingers closing around the block."}, {"label": "goal", "start_step": 845, "end_step": 1478, "id": "2fc939e3-899c-463f-90d2-3959bffca98b"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the white hollow block onto the middle purple rod and lowers it onto the supporting green piece below."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the middle purple rod and moves toward the fallen white hollow block on the table at the left front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_fallen_block: Right hand adjusts the fallen white hollow block on the table by pushing and repositioning it to stand upright."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upright white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the leftmost rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the leftmost rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block onto the top of the lower white block on the leftmost rod until it is supported."}, {"label": "subtasks", "start_step": 1208, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the leftmost rod and moves toward the white hollow block on the table at the right front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table at the right front of the wooden base, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the rightmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block down along the rightmost purple rod toward the supporting surface below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg and releases it."}, {"label": "goal", "start_step": 1479, "end_step": 1590, "id": "a66aa46b-8048-4764-b44f-d308ef8d5252"}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1720, "id": "dc8bffac-2e7a-4897-9e18-2c47d01210e1"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and moves it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, lowering it down to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring block onto the middle purple rod of the wooden base and releases it."}, {"label": "goal", "start_step": 1721, "end_step": 1806, "id": "2deadc75-cb4d-44d3-84cc-ae5a783d7302"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring block on the black table with fingers closing and adjusting for a stable grip."}, {"label": "goal", "start_step": 1807, "end_step": 1936, "id": "27c3f981-3118-479c-803d-5719b457dcb2"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the purple rod with fingers opening."}, {"label": "goal", "start_step": 1937, "end_step": 2028, "id": "dbbb6288-5cee-4634-89f1-269b18110b23"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the table surface."}, {"label": "goal", "start_step": 2029, "end_step": 2138, "id": "9932b5e1-02c2-49c4-8bf6-635046edde7d"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 2139, "end_step": 2250, "id": "2c88006e-a000-4447-8d6d-a68f97c375be"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring-shaped object from the right side of the table, raising it off the table surface."}, {"label": "goal", "start_step": 2251, "end_step": 2460, "id": "f1b9da3f-6de7-4490-aa54-8dd5d140f3b7"}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring-shaped object to the position above the front-right post of the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object onto the front-right post of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object on the front-right post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, fingers open and separate from the cylinder."}, {"label": "goal", "start_step": 2461, "end_step": 2610, "id": "fecf0027-dac4-4075-b28e-6def771ca954"}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 2535, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upward, making it leave the table surface."}, {"label": "goal", "start_step": 2611, "end_step": 2734, "id": "188d596a-2448-4af3-8aa9-f4364aeeb7c8"}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2744, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with a purple top on the wooden rack by lowering and fitting it in place."}, {"label": "home", "start_step": 2787, "end_step": 2815, "id": "jr6qQ8KJxLULWOiGnkchx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table, with fingers opening and tilting forward slightly. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block near the wooden base, without touching any object."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table surface and mates it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green block, then releases the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left-middle area of the table."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and carries it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod by lowering it down the rod to the green base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by lowering it down to fit on the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the left front peg of the wooden base, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden base, with fingers closing around the block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the white hollow block onto the middle purple rod and lowers it onto the supporting green piece below."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the middle purple rod and moves toward the fallen white hollow block on the table at the left front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_fallen_block: Right hand adjusts the fallen white hollow block on the table by pushing and repositioning it to stand upright."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upright white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the leftmost rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the leftmost rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block onto the top of the lower white block on the leftmost rod until it is supported."}, {"label": "subtasks", "start_step": 1208, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white block on the leftmost rod and moves toward the white hollow block on the table at the right front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table at the right front of the wooden base, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it to the top of the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the rightmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hollow block down along the rightmost purple rod toward the supporting surface below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and moves it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, lowering it down to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal ring block onto the middle purple rod of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring block on the black table with fingers closing and adjusting for a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring-shaped object from the right side of the table, raising it off the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring-shaped object to the position above the front-right post of the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object onto the front-right post of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object on the front-right post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, fingers open and separate from the cylinder."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 2535, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2744, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with a purple top on the wooden rack by lowering and fitting it in place."}], "episode_index": 35}
+{"source_uid": "437219a7025e62dd", "num_frames": 2870, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves forward and left from the right side towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "1936b827-b595-4b00-afb4-dcf0cfef88d3"}, {"label": "valid", "start_step": 0, "end_step": 2843, "id": "xLgYTvAb3tshfofz3yR6G"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 155, "end_step": 292, "id": "6f01a46a-b888-4430-8ae7-68cd4c3b7550"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green block with the purple peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 293, "end_step": 386, "id": "c1a14ec1-fa46-4a3f-ae3e-3d70ce9bfceb"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden base."}, {"label": "goal", "start_step": 387, "end_step": 478, "id": "9b44f21a-a41e-4859-8e68-55c3e5cfb593"}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base by aligning and pressing it down."}, {"label": "goal", "start_step": 479, "end_step": 558, "id": "6940882c-96bc-4fa6-b884-18a8b52b2ff6"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical sleeve on the black table."}, {"label": "goal", "start_step": 559, "end_step": 710, "id": "ee2d19a1-bc71-440b-a22d-d63af741835e"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 711, "end_step": 802, "id": "4e63ccd8-1e95-487a-b516-1dbe60fcd20d"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white ring up from the black tabletop."}, {"label": "goal", "start_step": 803, "end_step": 892, "id": "038bb426-8c25-473d-9a2b-5132fcd66574"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand moves the white ring horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns and inserts the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: release: Right hand releases the white ring which has been fitted onto the purple rod."}, {"label": "goal", "start_step": 893, "end_step": 970, "id": "d3a91389-1763-4b59-bdc1-3666e6eaf86c"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the target peg on the wooden base."}, {"label": "goal", "start_step": 971, "end_step": 1438, "id": "31755284-4ee1-4f25-b9ee-13e20a2407d0"}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the green block with the target white peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1439, "end_step": 1550, "id": "5b17f0a3-2d8b-4149-91cb-be31fe11c989"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves empty towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white ring on the black table."}, {"label": "goal", "start_step": 1551, "end_step": 1716, "id": "8a2176ba-7a21-44a7-af13-4b714d36006f"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1717, "end_step": 1842, "id": "6c0eed88-9c66-4fb7-9497-3a55546b3db6"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1843, "end_step": 1958, "id": "a1d994ff-4930-4e86-ba26-bdd233820f02"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1959, "end_step": 2064, "id": "2b1372c2-afd5-45f5-a47c-6db9343fbffd"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white ring on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white annular object from the right side of the table towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2065, "end_step": 2470, "id": "f4c67ff4-7779-4879-a4ac-13fde4605563"}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the purple rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2152, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the upper white annular object placed on the purple rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the grasped white annular object upward along the purple rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the lifted white annular object towards the adjacent rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the adjacent rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the wooden base with other assembled blocks."}, {"label": "goal", "start_step": 2471, "end_step": 2634, "id": "e23cdd35-0a1b-4470-b2b8-23727c6819e2"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the green square block on the black table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: idle: Right hand remains empty near the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2595, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 2635, "end_step": 2790, "id": "29ae3d29-e809-4158-be57-d88be5cdfffd"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the target white post on the wooden board."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target white post on the wooden board until it is stably fitted."}, {"label": "home", "start_step": 2844, "end_step": 2869, "id": "Isu0BgcajWD3GAFSYksZk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves forward and left from the right side towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green block with the purple peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the purple peg to make it fit tightly."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base by aligning and pressing it down."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white ring up from the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand moves the white ring horizontally to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns and inserts the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: release: Right hand releases the white ring which has been fitted onto the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the green block with the target white peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: press: Right hand presses the green block down along the white peg to secure it in place."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves empty towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white ring on the black table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place_release: Right hand places the white ring onto the peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand moves toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: reach: Right hand reaches towards the white ring on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the white annular object from the right side of the table towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the purple rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2152, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand grasps the upper white annular object placed on the purple rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift: Right hand lifts the grasped white annular object upward along the purple rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: transport: Right hand transports the lifted white annular object towards the adjacent rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the white annular object with the adjacent rod by inserting the rod through the ring's central hole."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: place: Right hand places the white cylindrical block onto the wooden base with other assembled blocks."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: retreat: Right hand retreats from the wooden base towards the green square block on the black table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: idle: Right hand remains empty near the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2595, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the target white post on the wooden board."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target white post on the wooden board until it is stably fitted."}], "episode_index": 36}
+{"source_uid": "e26c6426b14ee14b", "num_frames": 2401, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves from its initial right position toward the front-left green hexagonal block on the table, with fingers extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "6007a022-f4ff-49cb-a8ac-ee8c2fdccb37"}, {"label": "valid", "start_step": 0, "end_step": 2374, "id": "jEUSDpl1xZogwj1WHPN7Y"}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block, making slight positional adjustments of the fingers and wrist to form a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, beginning to raise the block off the table surface."}, {"label": "goal", "start_step": 151, "end_step": 268, "id": "58cfc225-e707-4e69-b801-a92fa8c25033"}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg until it is seated on the green block below."}, {"label": "goal", "start_step": 269, "end_step": 370, "id": "2821b426-4954-453e-bbc6-611189aa7516"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the loose white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact to establish a stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and forward to the position directly above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 371, "end_step": 560, "id": "7005dd37-01d2-4f88-b7ef-65aee392d5bf"}, {"label": "subtasks", "start_step": 390, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, moves the nut downward to fit it onto the peg until it rests on the green block beneath."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the left purple peg until the block is supported by the peg above the green block, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 561, "end_step": 658, "id": "a1272ed8-4f3e-450d-8608-887875ecf9ab"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and forward from the peg board toward the front-left white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making slight finger adjustments to establish contact with the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 659, "end_step": 792, "id": "a5bcc147-56e1-4b0f-adf6-3d067441dffd"}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg, making small positional adjustments."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg of the wooden block assembly without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block, positions it on top of the existing stacked blocks on the wooden base, adjusts it to sit stably, and releases its grip on the block."}, {"label": "goal", "start_step": 793, "end_step": 888, "id": "2a21d907-d8de-4ac9-88f1-6030c4a499c2"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward with an empty grip, approaching the white hexagonal block located near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the target white hexagonal block, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "goal", "start_step": 889, "end_step": 982, "id": "264cb30a-7ac4-487f-9c42-8dd156881473"}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden stand and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white cylindrical block resting on the purple peg, opening fingers to separate from the block as it sits stably on the wooden pegboard."}, {"label": "goal", "start_step": 983, "end_step": 1284, "id": "91c41bb3-4001-416c-92ae-3e7b397b8ee3"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the front green hexagonal block on the table, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact points to form an initial grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_place: Right hand lifts the green hexagonal block slightly off the table, moves it a short distance, then places it back down onto the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand makes small continuous adjustments of fingers and wrist around the green hexagonal block on the table, repositioning contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand holds the green hexagonal block with a stable grip and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green block, lifts it off the table surface, and moves it upward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1285, "end_step": 1392, "id": "c2396ec4-55dd-4b18-b9b4-dcd2898be77b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the green block to align its central hole with the purple peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base to seat the block, and opens fingers to release the seated block."}, {"label": "goal", "start_step": 1393, "end_step": 1472, "id": "d68b7f38-3128-4652-9d26-113b3a3f6d7c"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand grips the white hexagonal block firmly and lifts it upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 1473, "end_step": 1606, "id": "657701a0-3cb0-4b9b-9431-628dda0d97bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it leftward and upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit onto the rod and rest on the green block below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white hexagonal block on top of the rightmost purple rod, opening its fingers to separate from the secured block."}, {"label": "goal", "start_step": 1607, "end_step": 1692, "id": "db74948e-dea1-469e-a843-898b5ecf4db7"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the table next to the wooden block base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making slight grip adjustments to hold the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal block and moves upward to position it directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1693, "end_step": 1774, "id": "e39b76b3-1aa9-4b6d-b5e1-653b5bcfd1b1"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod without moving, keeping the block's hole aligned with the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod, placing it onto the top of the stacked white block below."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple rod of the wooden block rack."}, {"label": "goal", "start_step": 1775, "end_step": 1876, "id": "1b42a747-78e9-4300-b9e9-21c829d409c0"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden block rack toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "goal", "start_step": 1877, "end_step": 1992, "id": "c97b7f58-a44e-4e59-878a-36875eabdea4"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, moves it downward to place it into the empty slot on the wooden base, then releases fingers as the block becomes stably supported by the base."}, {"label": "goal", "start_step": 1993, "end_step": 2198, "id": "8ef1dbba-c8f3-4b21-9fa4-d0b540964f29"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green cubic block, adjusts finger positions and slightly rotates the block to turn it from a tilted state to an upright state with the circular hole facing upward, making continuous adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand firmly grips the green cubic block, lifts it vertically upward from the dark table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2199, "end_step": 2336, "id": "a8a0e27f-7df0-4011-85d4-9105368629da"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the green block, moves it diagonally upward and leftward through the air to the position directly above the empty white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand holds the green block, lowers it vertically down toward the empty white peg, makes small positional adjustments to align the block with the peg until the block rests stably on the peg."}, {"label": "home", "start_step": 2375, "end_step": 2400, "id": "y7mpsTjxbFxSDW4cjBuFb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves from its initial right position toward the front-left green hexagonal block on the table, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block, making slight positional adjustments of the fingers and wrist to form a stable grasp while the block remains on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, beginning to raise the block off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg, moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg until it is seated on the green block below."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the loose white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact to establish a stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and forward to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, moves the nut downward to fit it onto the peg until it rests on the green block beneath."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the left purple peg until the block is supported by the peg above the green block, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and forward from the peg board toward the front-left white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making slight finger adjustments to establish contact with the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg, making small positional adjustments."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg of the wooden block assembly without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block, positions it on top of the existing stacked blocks on the wooden base, adjusts it to sit stably, and releases its grip on the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward with an empty grip, approaching the white hexagonal block located near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the target white hexagonal block, with fingers closing and adjusting position to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden stand and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white cylindrical block resting on the purple peg, opening fingers to separate from the block as it sits stably on the wooden pegboard."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden pegboard toward the front green hexagonal block on the table, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact points to form an initial grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_place: Right hand lifts the green hexagonal block slightly off the table, moves it a short distance, then places it back down onto the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand makes small continuous adjustments of fingers and wrist around the green hexagonal block on the table, repositioning contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand holds the green hexagonal block with a stable grip and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand holds the green block, lifts it off the table surface, and moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the green block to align its central hole with the purple peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the green block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden base to seat the block, and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward through empty space toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand grips the white hexagonal block firmly and lifts it upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it leftward and upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit onto the rod and rest on the green block below."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand releases the white hexagonal block on top of the rightmost purple rod, opening its fingers to separate from the secured block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the table next to the wooden block base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making slight grip adjustments to hold the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the white hexagonal block and moves upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal block directly above the purple rod without moving, keeping the block's hole aligned with the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod, placing it onto the top of the stacked white block below."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple rod of the wooden block rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves downward from the wooden block rack toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place_release: Right hand holds the white cylindrical block with a purple rod, moves it downward to place it into the empty slot on the wooden base, then releases fingers as the block becomes stably supported by the base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: grasp: Right hand contacts the green cubic block, adjusts finger positions and slightly rotates the block to turn it from a tilted state to an upright state with the circular hole facing upward, making continuous adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: lift: Right hand firmly grips the green cubic block, lifts it vertically upward from the dark table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: transport: Right hand holds the green block, moves it diagonally upward and leftward through the air to the position directly above the empty white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated objects. | Right hand: place: Right hand holds the green block, lowers it vertically down toward the empty white peg, makes small positional adjustments to align the block with the peg until the block rests stably on the peg."}], "episode_index": 37}
+{"source_uid": "5928e44abf1ef49d", "num_frames": 2222, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves leftward from the right side of the table towards the white cap on the front-left purple rod of the test tube rack."}, {"label": "goal", "start_step": 0, "end_step": 158, "id": "ac02baeb-1ff8-42c2-9157-87c1512ae7d9"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "00VKFiSJU75jleHQycZjs"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white cap on the front-left purple rod of the test tube rack, with slight grip adjustment."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: press: Right hand presses the white cap downward along the purple rod continuously."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the green perforated cubic block from the black table and transports it to the position above the peg of the wooden rack."}, {"label": "goal", "start_step": 159, "end_step": 252, "id": "1c0ba5a2-1cee-42a2-9c7a-23856d59a056"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the green perforated cubic block onto the wooden rack's peg by aligning its hole with the peg and moving downward."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the green perforated cubic block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the green block on the front-left peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 253, "end_step": 344, "id": "7e1873c1-80c9-4d2b-8820-8211a6cc7866"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface and adjusts the grip stably."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward toward the purple pegs on the wooden base."}, {"label": "goal", "start_step": 345, "end_step": 450, "id": "65602638-dfd4-48bc-9bfc-140234139991"}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the front-left purple peg of the wooden base by lowering and adjusting it."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical piece onto the left-front purple peg of the wooden rack, releasing it once the piece is positioned on the peg."}, {"label": "goal", "start_step": 451, "end_step": 550, "id": "a39ca9c0-534a-4df0-9043-9633d7a5923f"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece with a central hole on the black table without moving."}, {"label": "goal", "start_step": 551, "end_step": 714, "id": "58e75d13-1ba3-4eba-a5a7-f9ada859e4a0"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to above the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal piece onto the front-left purple rod of the test tube rack until it reaches the bottom."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base before releasing it."}, {"label": "goal", "start_step": 715, "end_step": 832, "id": "cd97c9b2-a592-4875-bd5e-ba6295ff1374"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white ring above the front green cubic block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp_lift: Right hand grasps and lifts the white ring above the front green cubic block off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 833, "end_step": 990, "id": "0a454af0-380e-4653-b5c2-4aa71d8f7fd4"}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place: Right hand moves downward to place the white hexagonal part onto the top of the rightmost purple peg."}, {"label": "goal", "start_step": 991, "end_step": 1106, "id": "d8011661-e2fa-4aa2-8bde-1c2028dac343"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening away from the part."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: other:slight_finger_flexion: Left hand slightly flexes its fingers upward, with overall hand position unchanged. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the upper green square block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "goal", "start_step": 1107, "end_step": 1204, "id": "9a5da684-f894-402b-bfb6-c417589fbc1f"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden test tube rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place: Right hand places the green block onto a white test tube in the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the white test tube without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 1205, "end_step": 1318, "id": "a485b6fa-47c3-4380-bbde-33e333e50563"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1319, "end_step": 1476, "id": "833e15fc-3d41-44b3-8713-aa9c91d111b2"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the black table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the white cylindrical object with the purple rod on the wooden rack by lowering it down the rod, and releases the object upon mating completion."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1477, "end_step": 1564, "id": "7a3195ef-85ff-40cc-909f-11e057550701"}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers closing around it."}, {"label": "goal", "start_step": 1565, "end_step": 1684, "id": "12994276-1b2f-461b-8e00-536feb5171c7"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand moves the white hollow hexagonal block downward to fit it onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward from the upper wooden block set toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1685, "end_step": 1798, "id": "9c052888-d11a-4515-a8ad-91e25e69d8f6"}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1799, "end_step": 1932, "id": "e3365716-cc4e-46f4-bac0-19fa3033d73f"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "goal", "start_step": 1933, "end_step": 2034, "id": "29e6e9e4-5fda-410c-98b8-3e51c7941d72"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: release: Right hand releases the white ring on the purple rod, with fingers opening slightly."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift: Right hand lifts the green ring-shaped object from the right side of the black table surface."}, {"label": "goal", "start_step": 2035, "end_step": 2142, "id": "70cd58fc-e35c-4d44-ae75-8f4da24b0364"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: transport: Right hand transports the green ring-shaped object leftward and upward to the top of the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the green ring-shaped object with the rightmost bottle with a purple stem on the wooden rack and releases the object."}, {"label": "home", "start_step": 2194, "end_step": 2221, "id": "qxfcwcFUxto6AgfOqweVK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves leftward from the right side of the table towards the white cap on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white cap on the front-left purple rod of the test tube rack, with slight grip adjustment."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: press: Right hand presses the white cap downward along the purple rod continuously."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the green perforated cubic block from the black table and transports it to the position above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the green perforated cubic block onto the wooden rack's peg by aligning its hole with the peg and moving downward."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the green perforated cubic block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the green block on the front-left peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface and adjusts the grip stably."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the front-left purple peg of the wooden base by lowering and adjusting it."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical piece onto the left-front purple peg of the wooden rack, releasing it once the piece is positioned on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece with a central hole on the black table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to above the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand inserts the white hexagonal piece onto the front-left purple rod of the test tube rack until it reaches the bottom."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white ring above the front green cubic block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: grasp_lift: Right hand grasps and lifts the white ring above the front green cubic block off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal piece on the purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: place: Right hand moves downward to place the white hexagonal part onto the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening away from the part."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: other:slight_finger_flexion: Left hand slightly flexes its fingers upward, with overall hand position unchanged. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the upper green square block on the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the upper green square block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden test tube rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place: Right hand places the green block onto a white test tube in the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the green block on the white test tube without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the black table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the white cylindrical object with the purple rod on the wooden rack by lowering it down the rod, and releases the object upon mating completion."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white ring on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand moves the white hollow hexagonal block downward to fit it onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand moves downward from the upper wooden block set toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: release: Right hand releases the white ring on the purple rod, with fingers opening slightly."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: lift: Right hand lifts the green ring-shaped object from the right side of the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: transport: Right hand transports the green ring-shaped object leftward and upward to the top of the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with slightly flexed fingers, without moving. | Right hand: mate_release: Right hand mates the green ring-shaped object with the rightmost bottle with a purple stem on the wooden rack and releases the object."}], "episode_index": 38}
+{"source_uid": "4b5823d8e246b8be", "num_frames": 2106, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture by rotating fingers towards the center of the table. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 166, "id": "bc7cc070-5df1-425a-b55e-65bfbff027aa"}, {"label": "valid", "start_step": 0, "end_step": 2081, "id": "hvE1d1oSWCZGd0As7btvx"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the leftmost purple rod, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull: Right hand pulls the white hexagonal sleeve upwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the removed white hexagonal sleeve and moves slightly towards the lower right direction."}, {"label": "goal", "start_step": 167, "end_step": 308, "id": "87023046-1905-4657-ac16-5e2aab069f8f"}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black desktop and transports it to above the leftmost rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost rod of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost rod of the wooden base to the bottom position."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base on the table."}, {"label": "goal", "start_step": 309, "end_step": 406, "id": "35b8da6a-a5c4-46bf-b7bf-95fb69222ff9"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the leftmost purple rod of the assembly rack."}, {"label": "goal", "start_step": 407, "end_step": 516, "id": "24bd25aa-4e02-444f-bd8c-5b6f4e919b6e"}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod for assembly."}, {"label": "goal", "start_step": 517, "end_step": 618, "id": "1a99283a-27cc-4069-bcdd-5ef8a54ae50c"}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "goal", "start_step": 619, "end_step": 728, "id": "a14b64ec-52d9-4fc7-a2db-bb7eba0c51ba"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_press: Right hand places the white hexagonal block onto the aligned purple rod and presses it down to fit in position."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 729, "end_step": 806, "id": "db58a9bb-6831-4747-96b7-3c9edde0d16b"}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring placed on the purple post."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 807, "end_step": 956, "id": "e8f472b5-f715-4f11-b535-b9b00e18c31f"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 957, "end_step": 1074, "id": "502075a5-592f-4f36-8495-fdc5c63c0dee"}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1075, "end_step": 1206, "id": "36c13710-1ec5-45f6-bd64-426f1d8e0e05"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to the position above the top left peg of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green block onto the top left peg of the wooden base by fitting it over the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the green block fitted on the top left peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 1207, "end_step": 1306, "id": "b0b36b83-2ac8-4f61-992f-960f66b0cb7b"}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and prepare to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1307, "end_step": 1440, "id": "5fe15b1d-f854-4c10-965d-0f09bbfe18e1"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the test tube rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the top of the target test tube on the wooden rack."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1441, "end_step": 1524, "id": "6b22fdd2-53b4-4c0d-a0db-6f8c4a25e286"}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1525, "end_step": 1618, "id": "1dcb5d03-cb5e-459c-904a-9b00256fdedc"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1619, "end_step": 1700, "id": "56417ced-26b1-4690-802d-ba8704d14ea2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand holds the white ring and moves it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1701, "end_step": 1804, "id": "d3667a0b-8fc1-451c-a650-0f423fb36e49"}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white ring with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the top of the white cylinder with green base on the wooden board."}, {"label": "goal", "start_step": 1805, "end_step": 1924, "id": "d7f6d819-8be4-45e7-aeb8-c03bd5dd366a"}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green cubic block, adjusts finger positions to form a stable grip on the block."}, {"label": "goal", "start_step": 1925, "end_step": 2042, "id": "e5276aaf-b7c2-4836-a4d3-2d0c769d9a58"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white block array on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the green cubic block with the purple rod on the top of the rightmost white block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the green cubic block down along the purple rod, pressing it to fit onto the white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green cubic block, fingers opening to separate from the block."}, {"label": "home", "start_step": 2082, "end_step": 2105, "id": "iXlmYpEKRDHv3rwZTXU3q"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture by rotating fingers towards the center of the table. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves towards the white hexagonal sleeve on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the leftmost purple rod, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull: Right hand pulls the white hexagonal sleeve upwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the removed white hexagonal sleeve and moves slightly towards the lower right direction."}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black desktop and transports it to above the leftmost rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost rod of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost rod of the wooden base to the bottom position."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_press: Right hand places the white hexagonal block onto the aligned purple rod and presses it down to fit in position."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring placed on the purple post."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to the position above the top left peg of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green block onto the top left peg of the wooden base by fitting it over the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: hold: Right hand holds the green block fitted on the top left peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and prepare to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the test tube rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the top of the target test tube on the wooden rack."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand holds the white ring and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white ring with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the top of the white cylinder with green base on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green cubic block, adjusts finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white block array on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the inner hole of the green cubic block with the purple rod on the top of the rightmost white block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the green cubic block down along the purple rod, pressing it to fit onto the white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green cubic block, fingers opening to separate from the block."}], "episode_index": 39}
+{"source_uid": "b0bf5817dbfaf029", "num_frames": 2128, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves forward from the right side of the workspace toward the green hexagonal nut in front of the wooden peg rack, with fingers held open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "aaef0f98-cde0-43d1-bf26-8dc0dbcfa78d"}, {"label": "valid", "start_step": 0, "end_step": 2105, "id": "LMKG6WPfi0JHSroaM3HNZ"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making small adjustments to finger contact positions to form a grip, while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block completely leaves the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 238, "id": "33f82109-7ed4-49c0-8f7d-15174fa618ff"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the target purple post on the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, and moves the block downward to fit the hole onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block partially fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the white hexagonal nut to align and fully nest it onto the purple post of the wooden rack, making minor finger adjustments to secure the fit."}, {"label": "goal", "start_step": 239, "end_step": 322, "id": "b8c81b7e-60db-4b1a-a728-9f4c499e8329"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty from the wooden rack area toward the white hexagonal nut resting on the black table surface in front of the rack."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip, while the nut remains supported by the table surface."}, {"label": "goal", "start_step": 323, "end_step": 514, "id": "88ee7e28-1fd3-49f1-85dd-4359a775a74c"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand places the white cylindrical block onto the top of the corresponding purple peg on the wooden assembly stand until the block is stably supported by the peg."}, {"label": "goal", "start_step": 515, "end_step": 602, "id": "58b0a24b-a724-49f4-afdd-2edda3d10cff"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden assembly stand, approaching the nearest white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising the block off the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the wooden assembly rack, positioning the block above the target purple rod."}, {"label": "goal", "start_step": 603, "end_step": 724, "id": "ec1e165d-f8ff-467f-95d3-e3bc20ad8213"}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, sliding the block downward along the rod to fit onto the existing green block on the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg of the wooden assembly, breaking contact with the nut."}, {"label": "goal", "start_step": 725, "end_step": 836, "id": "9d5c1888-7beb-4462-a649-616430464ad5"}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and slightly right toward the green hexagonal block resting on the black table near the wooden assembly, remaining empty during movement."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it vertically upward until the block fully separates from the table surface."}, {"label": "goal", "start_step": 837, "end_step": 960, "id": "35b11ca8-d36c-47da-b102-4fc4275c49da"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden base, positioning the block directly above the target rod."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto a purple peg on the wooden base to seat the block stably, releases the block once the block is fully supported by the peg."}, {"label": "goal", "start_step": 961, "end_step": 1058, "id": "3996c5d8-ca50-4873-8625-035b6f36e002"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusts finger positions and closes fingers around the block to establish a stable grip."}, {"label": "goal", "start_step": 1059, "end_step": 1170, "id": "d3b4857b-9ae5-48bb-a40f-7f19c6a00322"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and moves the block downward to fit it onto the rod until it rests on the lower white component."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the top of the wooden block stand toward the front white hexagonal nut on the table, with fingers extended toward the target object."}, {"label": "goal", "start_step": 1171, "end_step": 1266, "id": "ddc3f706-8158-456d-bed0-72fd8177d95c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without observable movement."}, {"label": "goal", "start_step": 1267, "end_step": 1432, "id": "101ab097-4236-4f88-af73-4bc4f4f22c58"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to the held white hexagonal block to align its central hole with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves empty downward and rightward, retreating from the block assembly structure on the wooden base."}, {"label": "goal", "start_step": 1433, "end_step": 1516, "id": "c18b6d93-9c0c-46e8-bcba-1950b0b9db3b"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward to approach the white hexagonal nut placed on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward from the right side of the table to the position directly above the rightmost stacked block on the wooden base."}, {"label": "goal", "start_step": 1517, "end_step": 1616, "id": "e748a1a4-db91-485f-8969-c912ef21cdaf"}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes slight wrist and finger adjustments to align the white hexagonal block with the underlying stacked block, lowering the block to fit onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand grips the white cylindrical block, moves it vertically down along the purple rod until the block is stably supported by the wooden base below."}, {"label": "goal", "start_step": 1617, "end_step": 1728, "id": "b724558f-67cb-4e77-9040-0e5ae8cb1311"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the white cylindrical block resting on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty from the area above the wooden base downward to approach the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, adjusting finger placement to close and establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand firmly grasps the white hexagonal block and moves it upward and leftward through the air toward the wooden assembly base."}, {"label": "goal", "start_step": 1729, "end_step": 1820, "id": "ff8aadbc-c160-4c56-92f3-5ba022993929"}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the purple vertical rod on the wooden base, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white cylindrical bottle along the purple rod to rest on the wooden rack, fingers opening to release contact with the top of the bottle."}, {"label": "goal", "start_step": 1821, "end_step": 1962, "id": "679c86ef-d5bb-4c12-b122-e2932d5359e3"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small positional adjustments of fingers and wrist to establish a grip on the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly grips the small green block resting on the black table surface, and lifts the block vertically upward until it separates from the table."}, {"label": "goal", "start_step": 1963, "end_step": 2064, "id": "81b40f5e-92c2-4434-986e-a2eabfc448d9"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the suspended green block upward and rightward to the position directly above the purple-capped bottle on the wooden block rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the opening of the green block with the top of the purple-capped bottle, lowers the block to nest it onto the bottle top until the block is securely fitted on the bottle."}, {"label": "home", "start_step": 2106, "end_step": 2127, "id": "i4lfI_oPsB_KAa544rdjw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves forward from the right side of the workspace toward the green hexagonal nut in front of the wooden peg rack, with fingers held open."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making small adjustments to finger contact positions to form a grip, while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block completely leaves the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block and moves it to the position directly above the target purple post on the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple post, and moves the block downward to fit the hole onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block partially fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the white hexagonal nut to align and fully nest it onto the purple post of the wooden rack, making minor finger adjustments to secure the fit."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty from the wooden rack area toward the white hexagonal nut resting on the black table surface in front of the rack."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip, while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit onto the peg, establishing the assembled connection."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand places the white cylindrical block onto the top of the corresponding purple peg on the wooden assembly stand until the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden assembly stand, approaching the nearest white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising the block off the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the wooden assembly rack, positioning the block above the target purple rod."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, sliding the block downward along the rod to fit onto the existing green block on the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal nut seated on the purple peg of the wooden assembly, breaking contact with the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and slightly right toward the green hexagonal block resting on the black table near the wooden assembly, remaining empty during movement."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden base, positioning the block directly above the target rod."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto a purple peg on the wooden base to seat the block stably, releases the block once the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the green square block resting on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusts finger positions and closes fingers around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and moves the block downward to fit it onto the rod until it rests on the lower white component."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the top of the wooden block stand toward the front white hexagonal nut on the table, with fingers extended toward the target object."}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without observable movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to the held white hexagonal block to align its central hole with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves empty downward and rightward, retreating from the block assembly structure on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward to approach the white hexagonal nut placed on the table in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward from the right side of the table to the position directly above the rightmost stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes slight wrist and finger adjustments to align the white hexagonal block with the underlying stacked block, lowering the block to fit onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place: Right hand grips the white cylindrical block, moves it vertically down along the purple rod until the block is stably supported by the wooden base below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the white cylindrical block resting on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty from the area above the wooden base downward to approach the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, adjusting finger placement to close and establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand firmly grasps the white hexagonal block and moves it upward and leftward through the air toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the purple vertical rod on the wooden base, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white cylindrical bottle along the purple rod to rest on the wooden rack, fingers opening to release contact with the top of the bottle."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward and rightward toward the green cubic block on the black table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small positional adjustments of fingers and wrist to establish a grip on the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly grips the small green block resting on the black table surface, and lifts the block vertically upward until it separates from the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the suspended green block upward and rightward to the position directly above the purple-capped bottle on the wooden block rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the opening of the green block with the top of the purple-capped bottle, lowers the block to nest it onto the bottle top until the block is securely fitted on the bottle."}], "episode_index": 40}
+{"source_uid": "f7efe5653e4e8a7e", "num_frames": 1964, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers slightly while staying at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "f9ea39b4-f237-4175-a661-35ad9cf2896c"}, {"label": "valid", "start_step": 0, "end_step": 1942, "id": "DJ_3SmM7raysWYAGgjGOi"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the front-left purple rod and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the purple rod and moves it downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns and presses the white hexagonal piece onto the green hexagonal block on the table to fit the two parts together."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green block on the table in front of the wooden peg board, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 133, "end_step": 244, "id": "ec14b843-f4c8-4792-9d06-45456a3152e2"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the green block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the green block upward and forward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green block with the middle purple peg by aligning the hole and fitting it down onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 245, "end_step": 324, "id": "2a657568-405d-436e-9df0-b4848b52e3ca"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 325, "end_step": 468, "id": "59c04642-c89c-4bfe-8fff-499f0186f425"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white hexagonal block onto the green base of the left front purple peg on the wooden rack and releases the block."}, {"label": "goal", "start_step": 469, "end_step": 556, "id": "fa79c41e-8839-463d-a1d0-e19e86cfab2e"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward from the wooden peg rack towards the front-left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the front-left white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring part from the table surface toward the wooden rack with purple rods."}, {"label": "goal", "start_step": 557, "end_step": 672, "id": "70da29d7-6576-4302-b39a-e202483eae77"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal ring part onto the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal ring part on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 673, "end_step": 770, "id": "82c61555-2aa3-4442-80e2-7ab6ef8212e2"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting slightly."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the white hollow hexagonal block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 771, "end_step": 850, "id": "ecbad3d7-afc3-4fc9-8039-108a7ec7b46e"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport_mate: Right hand transports the white block to the top of the right purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg and releases the grip."}, {"label": "goal", "start_step": 851, "end_step": 932, "id": "c349f32e-a7fb-42a9-8e81-7506075cf23e"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward and leftward to the top of the middle peg."}, {"label": "goal", "start_step": 933, "end_step": 1052, "id": "6ef0e185-5292-4d56-ad55-4b0294cb5d1a"}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and slides it down to complete the mating assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white ring onto the rightmost purple rod on the wooden base."}, {"label": "goal", "start_step": 1053, "end_step": 1154, "id": "a4645f2b-3308-4b22-b46d-e30f27e2be43"}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves down toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the black table and transports it upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "goal", "start_step": 1155, "end_step": 1296, "id": "f420918f-b7bf-4d0b-a6ee-1c5d43ede29a"}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost purple peg and inserts it downward onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal part on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the green post on the wooden base and releases the block."}, {"label": "goal", "start_step": 1297, "end_step": 1386, "id": "44e0a66d-c86f-4a73-a8e2-482b8cd381fe"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table with fingers closing around the block."}, {"label": "goal", "start_step": 1387, "end_step": 1512, "id": "fd3e14f5-a214-4c32-8e0f-b633d3c29d39"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod downward."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1513, "end_step": 1598, "id": "90219927-186d-46e9-959f-63f854d2f904"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "goal", "start_step": 1599, "end_step": 1704, "id": "f7ca1337-f696-44b2-93ac-41b45c370bea"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block leftward from the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, moving downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: release: Right hand releases the white cylinder with a purple rod on the wooden base, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1705, "end_step": 1782, "id": "f9e80f92-dc4a-4648-95a2-cc4bb530415f"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cube on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the right table surface without moving."}, {"label": "goal", "start_step": 1783, "end_step": 1896, "id": "67a5583d-7282-4a4a-94c7-b3c687a2b2e0"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green perforated block from the table and transports it leftward and upward to the top of the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green perforated block onto the rightmost white cylinder with a purple tip on the wooden rack by moving downward to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the rightmost white cylinder without moving."}, {"label": "home", "start_step": 1943, "end_step": 1963, "id": "6g2YaEu63Sx2AGm8Cb3eG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers slightly while staying at the left side of the table. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal piece on the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the front-left purple rod and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the purple rod and moves it downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns and presses the white hexagonal piece onto the green hexagonal block on the table to fit the two parts together."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green block on the table in front of the wooden peg board, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the green block upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the green block upward and forward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green block with the middle purple peg by aligning the hole and fitting it down onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white hexagonal block onto the green base of the left front purple peg on the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward from the wooden peg rack towards the front-left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the front-left white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring part from the table surface toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal ring part onto the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal ring part on the middle purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting slightly."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp_lift: Right hand grasps the white hollow hexagonal block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: transport_mate: Right hand transports the white block to the top of the right purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg and releases the grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward and leftward to the top of the middle peg."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and slides it down to complete the mating assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white ring onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves down toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the black table and transports it upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost purple peg and inserts it downward onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal part on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: place_release: Right hand places the white cylindrical block onto the green post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod downward."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block leftward from the table to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, moving downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: release: Right hand releases the white cylinder with a purple rod on the wooden base, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green cube on the table, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the right table surface without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green perforated block from the table and transports it leftward and upward to the top of the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: mate: Right hand mates the green perforated block onto the rightmost white cylinder with a purple tip on the wooden rack by moving downward to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operating object. | Right hand: hold: Right hand holds the green perforated block on the rightmost white cylinder without moving."}], "episode_index": 41}
+{"source_uid": "6da37887156692bd", "num_frames": 1944, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block mounted on the front left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "d2dc35b2-2b94-4548-ba39-3bde9ff76303"}, {"label": "valid", "start_step": 0, "end_step": 1916, "id": "KJEOkagYRaM5xV-XKvse3"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left purple rod, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block upward to remove it from the purple rod."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 125, "end_step": 242, "id": "61485637-255e-4ea2-84b5-0dac4dfa79b9"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block off the purple post on the wooden base."}, {"label": "goal", "start_step": 243, "end_step": 338, "id": "2b18b911-a923-44af-b0c7-e34d090f208f"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_place: Right hand transports the white hollow block downward and places it on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hollow block from the table and transports it toward the wooden base with posts."}, {"label": "goal", "start_step": 339, "end_step": 430, "id": "df0fef96-8ee6-4c34-9127-84ae7e6dd290"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden assembly base."}, {"label": "goal", "start_step": 431, "end_step": 508, "id": "ef74e088-d2eb-448b-8a27-eaf0f4d6e128"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the black table surface."}, {"label": "goal", "start_step": 509, "end_step": 654, "id": "3a24d2a4-35f1-4f7f-af7e-8228591f902c"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring fitted on the purple peg of the wooden base."}, {"label": "goal", "start_step": 655, "end_step": 720, "id": "42eff1f4-9171-4e8d-a482-db80a24bffd1"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve upward to the top of the purple post on the wooden base."}, {"label": "goal", "start_step": 721, "end_step": 828, "id": "638e5fb6-c05d-4558-b6c6-01701f1707d7"}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve with the purple post by lowering it onto the post."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal sleeve down along the purple post and releases the sleeve."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 829, "end_step": 902, "id": "82679dd3-178b-4fd4-80e9-3de5e29e8c26"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block off the table surface."}, {"label": "goal", "start_step": 903, "end_step": 1006, "id": "e209d39d-a4b4-45c8-883a-da2d2acf41de"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1007, "end_step": 1090, "id": "df44bc6a-ee72-4f66-b9f0-5c68bd087614"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form stable contact."}, {"label": "goal", "start_step": 1091, "end_step": 1212, "id": "15a0c9ef-0fc0-4da7-9fdd-bfcb66b0e136"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1213, "end_step": 1292, "id": "23f791c4-2a14-4c49-8d86-e3a1cd005a37"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring placed on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1293, "end_step": 1382, "id": "93e54875-3483-4964-b152-ba63e9e55b62"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it down onto the rod until it is seated."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, fingers open and separate from the ring."}, {"label": "goal", "start_step": 1383, "end_step": 1568, "id": "2e9949ed-4dc4-462c-8bee-233d8b3c1f69"}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "goal", "start_step": 1569, "end_step": 1668, "id": "5209d3ac-2af4-43e7-bbbc-283f3b5e3964"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the wooden base and releases the grip on the cylinder."}, {"label": "goal", "start_step": 1669, "end_step": 1744, "id": "081f9d1f-6c36-4d5e-96f3-9c7b747f4924"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1745, "end_step": 1872, "id": "49007539-b35a-4e3f-a7fa-ccbf5be24252"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple post to fit stably."}, {"label": "home", "start_step": 1917, "end_step": 1943, "id": "QRYyaWWZArGHww0X9DXch"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block mounted on the front left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left purple rod, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block upward to remove it from the purple rod."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block off the purple post on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_place: Right hand transports the white hollow block downward and places it on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hollow block from the table and transports it toward the wooden base with posts."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring fitted on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal sleeve upward to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal sleeve with the purple post by lowering it onto the post."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal sleeve down along the purple post and releases the sleeve."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block off the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form stable contact."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring placed on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and inserts it down onto the rod until it is seated."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, fingers open and separate from the ring."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the wooden base and releases the grip on the cylinder."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple post to fit stably."}], "episode_index": 42}
+{"source_uid": "6b717d3de22c13eb", "num_frames": 1924, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg stand, with fingers kept open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "6cbb4e5b-b021-4301-8e9d-1adfdd033426"}, {"label": "valid", "start_step": 0, "end_step": 1897, "id": "tNsyhSe8RWACEfTBJxJs1"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 131, "end_step": 222, "id": "5ac21ccf-323e-4e0f-9448-4a0dcd91f4c0"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden board, opening fingers to release the seated block."}, {"label": "goal", "start_step": 223, "end_step": 356, "id": "8df7ae41-8c75-4b51-a309-54dbe0d40808"}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the white hexagonal block resting on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block resting on the table to establish a stable grip."}, {"label": "goal", "start_step": 357, "end_step": 476, "id": "3597c51c-9e64-4a98-b8c0-955df73adf13"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align and nest it onto the top of the purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block resting on the purple peg of the wooden assembly base."}, {"label": "goal", "start_step": 477, "end_step": 564, "id": "b5cff5d4-f692-42d3-8cb0-aff3eac35fd8"}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward through empty space toward the loose white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips a white hexagonal nut and moves it upward toward the purple peg on the wooden assembly base, positioning the nut above the target peg."}, {"label": "goal", "start_step": 565, "end_step": 668, "id": "a9a9b847-24cb-4e62-aa60-f909dff48a57"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg and lowers the nut to fit over the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: press: Right hand presses the white hexagonal block downward on the left purple peg to seat it firmly in place on the wooden base."}, {"label": "goal", "start_step": 669, "end_step": 754, "id": "b5736c10-d63d-465d-a437-521d1911d635"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned near the front edge of the wooden base on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 755, "end_step": 870, "id": "6af411cf-9fcd-4167-a9e3-7b3c832173a3"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "goal", "start_step": 871, "end_step": 946, "id": "f50fb14b-f022-4d69-a573-93c0220557f7"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left green hexagonal block on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 947, "end_step": 1056, "id": "4833605d-c0ee-40ec-a968-02f00dba5018"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod on the wooden peg base until the block is stably supported by the base."}, {"label": "goal", "start_step": 1057, "end_step": 1144, "id": "f54686e6-0838-4e94-b68e-31ac63ad48b3"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward to the position above the purple peg on the wooden assembly board."}, {"label": "goal", "start_step": 1145, "end_step": 1252, "id": "d719d284-a170-476d-a76d-c89c4417cc5f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden board, lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the green peg of the wooden block stand, and opens fingers to release the seated block."}, {"label": "goal", "start_step": 1253, "end_step": 1336, "id": "b5e902bd-eb8f-428d-b378-95ea9e7cb3b7"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stand toward the white hexagonal block resting on the black table surface to the right of the stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "goal", "start_step": 1337, "end_step": 1452, "id": "f19116b8-342b-4c00-9a72-465020b454bf"}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward to position it above the empty slot on the wooden block base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block steady above the empty slot on the wooden block base, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal block downward to set it into the empty slot on the wooden block base, where the block is supported by the base at the end of the segment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves downward to place the white hexagonal block onto the purple rod on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1453, "end_step": 1522, "id": "e637d7b2-52ab-4d65-9bbd-0564236c81de"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, without contacting the target block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the wooden peg board."}, {"label": "goal", "start_step": 1523, "end_step": 1614, "id": "49967c15-5473-49de-902b-b20894de1028"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand gradually opens fingers to release the white cylindrical bottle with purple top seated in the wooden holder, lifting fingers away from the bottle cap until fully separated from the bottle."}, {"label": "goal", "start_step": 1615, "end_step": 1694, "id": "493067af-970b-4b5f-bb20-e9fed7d02a5e"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the dark table surface to establish a grip on the block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand firmly grips the green square block resting on the dark table surface and lifts it upward until the block is completely separated from the table."}, {"label": "goal", "start_step": 1695, "end_step": 1850, "id": "9d104ab1-3c93-44cb-855c-1dd4ea6430fb"}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the gripped green square block upward and leftward, moving the block to the position directly above the white bottle with a purple cap on the wooden block base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the gripped green square block to align its central hole with the purple-topped post on the white bottle, fitting the block onto the post."}, {"label": "home", "start_step": 1898, "end_step": 1923, "id": "ItbBkIuhBJsZRnRv96twS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg stand, with fingers kept open during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden board, opening fingers to release the seated block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the white hexagonal block resting on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block resting on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align and nest it onto the top of the purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block resting on the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward through empty space toward the loose white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips a white hexagonal nut and moves it upward toward the purple peg on the wooden assembly base, positioning the nut above the target peg."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple peg and lowers the nut to fit over the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: press: Right hand presses the white hexagonal block downward on the left purple peg to seat it firmly in place on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned near the front edge of the wooden base on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left green hexagonal block on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod on the wooden peg base until the block is stably supported by the base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block, moves it upward and leftward to the position above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden board, lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the green peg of the wooden block stand, and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stand toward the white hexagonal block resting on the black table surface to the right of the stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting it completely off the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward to position it above the empty slot on the wooden block base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block steady above the empty slot on the wooden block base, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal block downward to set it into the empty slot on the wooden block base, where the block is supported by the base at the end of the segment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: place_release: Right hand moves downward to place the white hexagonal block onto the purple rod on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, without contacting the target block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: release: Right hand gradually opens fingers to release the white cylindrical bottle with purple top seated in the wooden holder, lifting fingers away from the bottle cap until fully separated from the bottle."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green square block on the dark table surface to establish a grip on the block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: lift: Right hand firmly grips the green square block resting on the dark table surface and lifts it upward until the block is completely separated from the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the gripped green square block upward and leftward, moving the block to the position directly above the white bottle with a purple cap on the wooden block base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the gripped green square block to align its central hole with the purple-topped post on the white bottle, fitting the block onto the post."}], "episode_index": 43}
+{"source_uid": "95a24a7d586988c3", "num_frames": 1907, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the right side of the black tabletop towards the green hexagonal block at the lower left of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6cd990fa-b5e0-4d22-9442-18540b6c1704"}, {"label": "valid", "start_step": 0, "end_step": 1878, "id": "V5keRnY6ZXNvFcpVWZhMe"}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the black table surface and transports it upward and rightward to the position above the pegs on the wooden board."}, {"label": "goal", "start_step": 121, "end_step": 246, "id": "0dd7080b-25a6-4dfa-9d91-bac22ede6c4a"}, {"label": "subtasks", "start_step": 142, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal ring with the top of the leftmost peg and slides it down along the peg to fit into the assembled position."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg of the wooden base and then releases the block."}, {"label": "goal", "start_step": 247, "end_step": 320, "id": "e9556483-cc84-4331-8256-c3a6acbd992a"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 321, "end_step": 420, "id": "06d468b4-4344-4d7a-8a64-0e641e60fd3b"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the front-left purple post on the rack."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the front-left purple post of the rack, moving downward to insert the part onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases grip."}, {"label": "goal", "start_step": 421, "end_step": 504, "id": "787f040e-1bd3-4703-87ce-eb3e5092cde0"}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hex ring on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "goal", "start_step": 505, "end_step": 624, "id": "89fac06d-0dad-4142-8fe0-8bef478576ef"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table toward the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white annular piece onto the purple peg and releases the piece."}, {"label": "goal", "start_step": 625, "end_step": 716, "id": "dcdbd0f7-2830-4956-a8e9-149e8f012aa7"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 717, "end_step": 786, "id": "24b2e52c-6efa-41f9-bf6f-75c5d9a152a6"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand places the white ring onto the bottom of the purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 787, "end_step": 854, "id": "48f1fa77-8c20-4123-a6d4-d7ada9a972d7"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 855, "end_step": 950, "id": "638c8771-f8fa-49c5-9a47-f009f7046804"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the green block on the wooden pegboard, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 951, "end_step": 1042, "id": "7240a516-304b-40d6-82b6-672cf641d812"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the pegboard area."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1043, "end_step": 1162, "id": "83081704-b611-4ff9-8921-8cc02fad7e25"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the workbench while moving it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod on the wooden rack by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "goal", "start_step": 1163, "end_step": 1232, "id": "7e214680-a33b-4f9d-96d1-89e210f1c672"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downwards."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1233, "end_step": 1336, "id": "b0ad18f9-db52-4768-9b79-f19add512029"}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod, places it on the wooden board at the base of the rod, then releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: retreat: Right hand retreats from the purple rod area toward the right side of the table, empty."}, {"label": "goal", "start_step": 1337, "end_step": 1412, "id": "f2690bd0-0d4f-4e6a-947a-00577373c671"}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "goal", "start_step": 1413, "end_step": 1544, "id": "558aa0dd-e2e4-415c-a1ef-f2d38f81a6d8"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table surface and moves it upward and leftward to the top of the rightmost purple rod on the peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple rod and lowers it to fit the ring onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the area near the bottle set toward the green block on the lower right of the table, approaching the block without contact."}, {"label": "goal", "start_step": 1545, "end_step": 1658, "id": "4c2a17dc-5256-41d1-8928-c14cd2446863"}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp_lift: Right hand contacts and grasps the green block on the table with finger adjustments, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1659, "end_step": 1810, "id": "e729a06b-87bb-4cec-8094-b18782894bd8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the rightmost white post with a purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white post by aligning the hole and inserting the post into the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green block on the rightmost white post without moving."}, {"label": "home", "start_step": 1879, "end_step": 1906, "id": "f-1nravKwvkY5SCbcRaWH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the right side of the black tabletop towards the green hexagonal block at the lower left of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the black table surface and transports it upward and rightward to the position above the pegs on the wooden board."}, {"label": "subtasks", "start_step": 142, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal ring with the top of the leftmost peg and slides it down along the peg to fit into the assembled position."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the front-left purple post on the rack."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the front-left purple post of the rack, moving downward to insert the part onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases grip."}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hex ring on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hex ring on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal part on the black table without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table toward the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white annular piece onto the purple peg and releases the piece."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hexagonal piece with a central hole on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal piece with a central hole on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand places the white ring onto the bottom of the purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the green block on the wooden pegboard, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the pegboard area."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the workbench while moving it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod on the wooden rack by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downwards."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod, places it on the wooden board at the base of the rod, then releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: retreat: Right hand retreats from the purple rod area toward the right side of the table, empty."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table surface and moves it upward and leftward to the top of the rightmost purple rod on the peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple rod and lowers it to fit the ring onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: reach: Right hand moves from the area near the bottle set toward the green block on the lower right of the table, approaching the block without contact."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: grasp_lift: Right hand contacts and grasps the green block on the table with finger adjustments, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the rightmost white post with a purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: mate: Right hand mates the green block with the rightmost white post by aligning the hole and inserting the post into the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without obvious movement. | Right hand: hold: Right hand holds the green block on the rightmost white post without moving."}], "episode_index": 44}
+{"source_uid": "125a603ea9aa20a2", "num_frames": 2887, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden tray on the table."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "320159a0-1617-4f16-954f-4b6bf8af1fa7"}, {"label": "valid", "start_step": 0, "end_step": 2860, "id": "RtEGV6dF7F6IbrtDQEzTq"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes its fingers to adjust and form a stable grasp on the green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand holds the green block and moves it above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 141, "end_step": 262, "id": "bd4d49ef-3836-4ed9-ba67-101c125f1b73"}, {"label": "subtasks", "start_step": 180, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the green block down onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 263, "end_step": 540, "id": "1e0a5f7b-e370-49ac-a93c-e822a3e85f6b"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to establish and stabilize the grasp on the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black tabletop."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 541, "end_step": 680, "id": "9c24896f-d6b6-428f-a92e-4797dd2db78b"}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit into place."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 681, "end_step": 788, "id": "a36010af-ce9d-463a-8d0b-db5d0705eada"}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface, making the block fully leave the support surface."}, {"label": "goal", "start_step": 789, "end_step": 1006, "id": "b2d3eb21-6740-455e-81b8-202c056d9350"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod, inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated on the green base of the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 1007, "end_step": 1106, "id": "5d19ba66-187c-4271-8d0e-e91a5d81a191"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white block on the table."}, {"label": "goal", "start_step": 1107, "end_step": 1302, "id": "cd3a275e-e5ee-49f0-ac11-8346903e0ccf"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1303, "end_step": 1380, "id": "e3001a1f-3172-48ab-8e95-71cb5a2092a3"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green cubic block off the table surface."}, {"label": "goal", "start_step": 1381, "end_step": 1720, "id": "cc4f325d-1147-4b29-b515-e3b1ce1c9667"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it above the rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the green block with the rod on the wooden base and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the green block down along the rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1721, "end_step": 1856, "id": "0b3cfa6b-1207-4be6-a174-0a181f9d93bb"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1857, "end_step": 1992, "id": "e99c51ce-abd2-4e29-a0af-a88e75a9c96e"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the grasped white ring towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1993, "end_step": 2064, "id": "36fac9d4-e0bd-4306-ba40-939c4b7c95f6"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2065, "end_step": 2186, "id": "dccb8867-2313-4fdb-b9ed-46f53b23429b"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the purple rod into the hole of the white block on the wooden base."}, {"label": "goal", "start_step": 2187, "end_step": 2272, "id": "31eabcad-9dac-4c49-85de-2199bbfdb8ba"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2242, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 2273, "end_step": 2462, "id": "c9231b70-639a-498a-8db7-41de49045178"}, {"label": "subtasks", "start_step": 2362, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the white hexagonal ring by opening fingers, separating from the ring."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: retreat: Right hand retreats upward slightly after releasing the white hexagonal ring."}, {"label": "goal", "start_step": 2463, "end_step": 2654, "id": "6db3f64e-6f34-4217-89ed-e0444ebe02e6"}, {"label": "subtasks", "start_step": 2475, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 2655, "end_step": 2800, "id": "8b53e0f1-f9ff-4ae7-b7dd-eb06298b9871"}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the green block towards the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2781, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the green block onto the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2782, "end_step": 2804, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the grip on the green block."}, {"label": "home", "start_step": 2861, "end_step": 2886, "id": "sF9RlUwZJydCha_z4Ve6z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden tray on the table."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes its fingers to adjust and form a stable grasp on the green block on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand holds the green block and moves it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the green block down onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to establish and stabilize the grasp on the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black tabletop."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit into place."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface, making the block fully leave the support surface."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod, inserting the rod into the block's hole."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated on the green base of the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the grasped green cubic block off the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the black tabletop and transports it above the rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand aligns the green block with the rod on the wooden base and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: press: Right hand presses the green block down along the rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the grasped white ring towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the purple rod into the hole of the white block on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2242, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple vertical rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the white hexagonal ring by opening fingers, separating from the ring."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: retreat: Right hand retreats upward slightly after releasing the white hexagonal ring."}, {"label": "subtasks", "start_step": 2475, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: reach: Right hand moves towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: transport: Right hand transports the green block towards the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2781, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: mate: Right hand mates the green block onto the white column with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2782, "end_step": 2804, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without continuous obvious movement. | Right hand: release: Right hand releases the grip on the green block."}], "episode_index": 45}
+{"source_uid": "a95ab59168839742", "num_frames": 2757, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "462e1dae-8218-4f36-bae2-baf98b248064"}, {"label": "valid", "start_step": 0, "end_step": 2732, "id": "rY-8qhakOkXVOTB08J9fW"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 121, "end_step": 364, "id": "9809c64d-c684-4bb1-97d8-1abfc67c0e21"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block upward off the table surface and moves it to a position above the purple pegs on the wooden peg board."}, {"label": "subtasks", "start_step": 150, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden peg board, makes small positional adjustments, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the top of a purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 365, "end_step": 706, "id": "2e98b26f-5cc7-4b1c-918b-bf9e6f9f8755"}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward from the wooden base toward the tilted white hexagonal block resting on the table near the base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the tilted white hexagonal block on the table to form an initial grasp."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the white hexagonal block downward to rest it on the table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 651, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to secure a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach_grasp: Right hand approaches and closes fingers to grasp the white hexagonal block adjacent to the wooden peg base on the table."}, {"label": "goal", "start_step": 707, "end_step": 966, "id": "1fda9bf6-75be-4a8d-84c0-3f320efce873"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand lifts the grasped white block, moves it to the rearmost purple peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty fingers to approach the front white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions to establish and stabilize a firm grasp around the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white block completely off the table surface and moves it upward to position directly above the front-left purple peg on the base."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white block with the target purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases the block with fingers opening."}, {"label": "goal", "start_step": 967, "end_step": 1062, "id": "5aad6d80-8e19-4719-b49a-0f8d5fc2c3b1"}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the green hexagonal block on the black table, with fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block, lifting it vertically upward to raise it completely off the black table surface."}, {"label": "goal", "start_step": 1063, "end_step": 1170, "id": "02310e52-6752-45f0-b8b8-753a4c19f0a8"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and forward toward the wooden assembly rack to position it above the target purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, moving the block downward with minor positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward away from the top of the stacked blocks on the wooden peg rack, approaching the loose white hexagonal block on the adjacent black table surface."}, {"label": "goal", "start_step": 1171, "end_step": 1278, "id": "7d0e0fd1-54be-4231-8e19-860989743da1"}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the loose white hexagonal block next to the rack, making contact to form a grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the purple post on the wooden base."}, {"label": "goal", "start_step": 1279, "end_step": 1434, "id": "0ac6270f-a4f0-4f9e-a7b8-44bef3d3250a"}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align with the purple post, moving it downward to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it onto the purple rod on the wooden base, and opens fingers to release the supported nut."}, {"label": "goal", "start_step": 1435, "end_step": 1512, "id": "4d226d27-e411-4d78-9cb6-d4ed9563ef93"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1513, "end_step": 1646, "id": "48158d6e-981d-476c-ace5-0712096debf7"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position above the empty vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block to align its central hole with the empty vertical rod, and fits the block onto the top of the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green hexagonal block along the vertical rod until the block rests stably on the lower blocks of the assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the stably placed green hexagonal block on the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the block."}, {"label": "goal", "start_step": 1647, "end_step": 1712, "id": "0e498b4c-bb98-4337-ae38-c244efd36ea4"}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut adjacent to the green block on the right area of the table without moving."}, {"label": "goal", "start_step": 1713, "end_step": 1842, "id": "8968f343-7e23-4ced-993b-37940d13511d"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden assembly base and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated on the green base on the wooden tray, separating from the block surface."}, {"label": "goal", "start_step": 1843, "end_step": 1912, "id": "84cb89e8-ab4a-4c64-8b34-f1706fc6ca68"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downwards and rightwards across the table surface, approaching the loose white hexagonal nut without making contact."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table surface, making small positional adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut fully separates from the table surface."}, {"label": "goal", "start_step": 1913, "end_step": 2002, "id": "5d00c725-c110-4f3a-b28b-6ea31fa35f33"}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady directly above the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the held white hexagonal nut downward to place it onto the purple rod, where the nut is supported by the rod."}, {"label": "goal", "start_step": 2003, "end_step": 2144, "id": "47ff15a7-3d4a-4ffb-a68b-8286b8dab9cc"}, {"label": "subtasks", "start_step": 2010, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white hexagonal piece seated on the purple rod of the wooden block assembly, with fingers opening to separate fully from the piece."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece with a central hole resting on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal piece on the table, making small adjustments to finger positions to establish stable contact with the piece."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "goal", "start_step": 2145, "end_step": 2236, "id": "36259d67-6d8a-4c4b-a893-b7fffd2b18da"}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple vertical rod below."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary directly above the purple vertical rod without movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to set it on the supporting block below, opens fingers to release the block so it stays stably fitted on the rod."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: press: Right hand presses the purple-topped white cylinder on the wooden block set with fingertips applying downward force."}, {"label": "goal", "start_step": 2237, "end_step": 2314, "id": "ff5656de-e5db-4371-8bc7-a5113ff6d36b"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green cube on the table and lifts the cube upward off the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the held green cubic block upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 2315, "end_step": 2652, "id": "9df40c79-b1b1-4ff7-a8f9-2d6ba96f9a62"}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the green cubic block leftward to the position directly above the rightmost purple-topped cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2601, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green cubic block to align its central hole with the top of the purple-topped cylinder below."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green cubic block downward until it fits securely onto the purple-topped cylinder and is stably supported."}, {"label": "home", "start_step": 2733, "end_step": 2756, "id": "MmSbcYMJ5Jx7CYw8zs2El"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block upward off the table surface and moves it to a position above the purple pegs on the wooden peg board."}, {"label": "subtasks", "start_step": 150, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden peg board, makes small positional adjustments, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the top of a purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward from the wooden base toward the tilted white hexagonal block resting on the table near the base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the tilted white hexagonal block on the table to form an initial grasp."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the white hexagonal block downward to rest it on the table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 651, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation to secure a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach_grasp: Right hand approaches and closes fingers to grasp the white hexagonal block adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand lifts the grasped white block, moves it to the rearmost purple peg, and fits the block onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty fingers to approach the front white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts finger positions to establish and stabilize a firm grasp around the front white hexagonal block on the table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white block completely off the table surface and moves it upward to position directly above the front-left purple peg on the base."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white block with the target purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward toward the green hexagonal block on the black table, with fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block, lifting it vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and forward toward the wooden assembly rack to position it above the target purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, moving the block downward with minor positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward away from the top of the stacked blocks on the wooden peg rack, approaching the loose white hexagonal block on the adjacent black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the loose white hexagonal block next to the rack, making contact to form a grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align with the purple post, moving it downward to fit the nut onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it onto the purple rod on the wooden base, and opens fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position above the empty vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block to align its central hole with the empty vertical rod, and fits the block onto the top of the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green hexagonal block along the vertical rod until the block rests stably on the lower blocks of the assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the stably placed green hexagonal block on the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut adjacent to the green block on the right area of the table without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden assembly base and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated on the green base on the wooden tray, separating from the block surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downwards and rightwards across the table surface, approaching the loose white hexagonal nut without making contact."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table surface, making small positional adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut fully separates from the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and leftward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady directly above the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand moves the held white hexagonal nut downward to place it onto the purple rod, where the nut is supported by the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white hexagonal piece seated on the purple rod of the wooden block assembly, with fingers opening to separate fully from the piece."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward toward the loose white hexagonal piece with a central hole resting on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal piece on the table, making small adjustments to finger positions to establish stable contact with the piece."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the held white hexagonal block to align its central hole with the purple vertical rod below."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary directly above the purple vertical rod without movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod to set it on the supporting block below, opens fingers to release the block so it stays stably fitted on the rod."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: press: Right hand presses the purple-topped white cylinder on the wooden block set with fingertips applying downward force."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: grasp_lift: Right hand closes fingers around the green cube on the table and lifts the cube upward off the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the held green cubic block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the green cubic block leftward to the position directly above the rightmost purple-topped cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2601, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green cubic block to align its central hole with the top of the purple-topped cylinder below."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement. | Right hand: place: Right hand lowers the green cubic block downward until it fits securely onto the purple-topped cylinder and is stably supported."}], "episode_index": 46}
+{"source_uid": "a1f05d84498c321f", "num_frames": 2341, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture slightly at the left side of the table, with fingers and wrist making small rotational movements. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "e2e337bb-ad85-4b70-8af5-45190a000c75"}, {"label": "valid", "start_step": 0, "end_step": 2316, "id": "e8bzqnVIJXVYT0wlGvj4k"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the wooden base and transports it to the position right above the leftmost purple peg."}, {"label": "goal", "start_step": 151, "end_step": 270, "id": "3c2c6d15-21ca-4add-95a8-92da2b0d7eca"}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_press: Right hand fits the green block onto the leftmost purple peg and presses it downward along the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 271, "end_step": 352, "id": "07fabcb5-7a08-4d79-9336-31414f4776c7"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface as fingers close around it."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal part up from the green base on the black table."}, {"label": "goal", "start_step": 353, "end_step": 466, "id": "5c404a85-e04d-4e9f-8caa-5e1de0179fcd"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal part to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the leftmost purple peg and inserts the part onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place: Right hand slides the white hexagonal part down along the purple peg until it is supported by the white part below."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 467, "end_step": 568, "id": "ab8e4915-f0f1-4be3-b56c-ec686c81a0d7"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block onto the black table surface, with fingers opening gradually."}, {"label": "goal", "start_step": 569, "end_step": 808, "id": "3a0c7fbf-29f0-4b1f-9c69-987934d25451"}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves empty toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod on the wooden rack, aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 809, "end_step": 872, "id": "57bd4ff7-830f-4491-9d75-00ab0976dd86"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it upward and leftward to above the rightmost purple peg on the wooden base."}, {"label": "goal", "start_step": 873, "end_step": 1140, "id": "0b8fa6b7-c987-40b6-a52e-8c84a4f42729"}, {"label": "subtasks", "start_step": 892, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the rightmost purple peg and lowers it onto the peg to assemble the two parts."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal piece slightly upward along the rightmost purple peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand lowers the white hexagonal piece back down along the rightmost purple peg to adjust the assembly position."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple vertical peg on the wooden base, and releases the piece after the assembly is completed."}, {"label": "goal", "start_step": 1141, "end_step": 1252, "id": "63fbf61d-ceae-4709-ac07-c538cb360216"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to above the rightmost purple rod on the wooden base."}, {"label": "goal", "start_step": 1253, "end_step": 1378, "id": "d39f66c5-8996-41a1-be7f-861116cbda8b"}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand moves the green block downward to fit it onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green block on the rightmost purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 1379, "end_step": 1462, "id": "772c3419-326a-4341-b16e-d1778f416bf5"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1463, "end_step": 1620, "id": "b2dba552-91cc-49d5-a9ea-21d4cf8caac4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block on the top of the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1621, "end_step": 1718, "id": "17727fb6-b4f4-440c-a622-55e815724e2c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1719, "end_step": 1806, "id": "52353ec2-69e9-47b7-a43e-b55d96584b51"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block upward off the table surface and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning its hole and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 1807, "end_step": 1892, "id": "5e0f973a-f0df-46b7-841d-6eeccbcb1ad7"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal ring upward away from the table surface."}, {"label": "goal", "start_step": 1893, "end_step": 2032, "id": "cef9c60b-ecf1-4db9-b4f6-e3920a2c1f79"}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal ring object from the right side of the table toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal ring object with the purple rod by aligning and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty beside the purple rod on the wooden board without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white perforated block onto the purple vertical peg and releases it."}, {"label": "goal", "start_step": 2033, "end_step": 2112, "id": "1797c60b-c933-4fe1-9458-3b99960a0c68"}, {"label": "subtasks", "start_step": 2048, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green perforated block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green perforated block on the table with fingers closing around its side."}, {"label": "goal", "start_step": 2113, "end_step": 2262, "id": "952cc50f-c4ab-4c1f-bf27-ed06b142c3af"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it to above the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the green hollow block with the rightmost purple rod on the wooden rack, aligning and lowering the block until it rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hollow block fitted on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the green hollow block, with fingers opening to loosen the grip on the block."}, {"label": "home", "start_step": 2317, "end_step": 2340, "id": "Wv5gh0PbWdEGrriRmNp1Y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture slightly at the left side of the table, with fingers and wrist making small rotational movements. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the wooden base and transports it to the position right above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_press: Right hand fits the green block onto the leftmost purple peg and presses it downward along the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface as fingers close around it."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal part up from the green base on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal part to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the leftmost purple peg and inserts the part onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place: Right hand slides the white hexagonal part down along the purple peg until it is supported by the white part below."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block onto the black table surface, with fingers opening gradually."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves empty toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod on the wooden rack, aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and transports it upward and leftward to above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal piece with the rightmost purple peg and lowers it onto the peg to assemble the two parts."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal piece slightly upward along the rightmost purple peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand lowers the white hexagonal piece back down along the rightmost purple peg to adjust the assembly position."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple vertical peg on the wooden base, and releases the piece after the assembly is completed."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand moves the green block downward to fit it onto the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green block on the rightmost purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical part onto the purple peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white hexagonal block on the top of the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block upward off the table surface and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning its hole and fitting it down onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the white hexagonal ring upward away from the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the white hexagonal ring object from the right side of the table toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal ring object with the purple rod by aligning and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty beside the purple rod on the wooden board without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand places the white perforated block onto the purple vertical peg and releases it."}, {"label": "subtasks", "start_step": 2048, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green perforated block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green perforated block on the table with fingers closing around its side."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it to above the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the green hollow block with the rightmost purple rod on the wooden rack, aligning and lowering the block until it rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hollow block fitted on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the green hollow block, with fingers opening to loosen the grip on the block."}], "episode_index": 47}
+{"source_uid": "0a2c1e5a4e8338c6", "num_frames": 2318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "10272ccb-5c68-4f88-85a6-51db7830b701"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "Y8cdIa78Ll_0DDU3r_j8i"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal component upward from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 125, "end_step": 340, "id": "cd4fca2f-ac92-408f-9406-64178ff0beeb"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block after positioning."}, {"label": "goal", "start_step": 341, "end_step": 444, "id": "a0b4d54e-a843-44f2-bdc7-049a2427afed"}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 445, "end_step": 580, "id": "836ed766-03cb-419d-ae40-fdbd7150e203"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 581, "end_step": 676, "id": "51ff0434-98f5-497c-9bd0-1dd55717f25c"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the white ring blocks on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the white ring block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple rod on the wooden base."}, {"label": "goal", "start_step": 677, "end_step": 824, "id": "43115482-983d-496d-863a-978ac6f7b5c2"}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod, adjusting its position to fit onto the rod completely."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 825, "end_step": 922, "id": "3454fdf1-e611-4d51-8cd0-0946d1fa2429"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 923, "end_step": 1018, "id": "8b332f0b-b0f1-4338-a770-783bfa836a15"}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1019, "end_step": 1096, "id": "c3d50590-9b43-44e5-ac26-e3a3e26b7ce6"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block by closing fingers around it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upwards away from the table surface."}, {"label": "goal", "start_step": 1097, "end_step": 1240, "id": "b49c7df4-896c-4240-b642-1639c0670bb8"}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1241, "end_step": 1342, "id": "dcf52f93-e6ae-4bc9-81e7-6b5364c9d611"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table, adjusting the grip to become stable."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1343, "end_step": 1448, "id": "a5d9b110-25b2-4328-b110-05a96c67d3ea"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg to fit it properly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1449, "end_step": 1548, "id": "beb41561-1861-406a-a3bf-aea679d9dfb8"}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: other:lift_up: Left hand lifts upward empty from the table surface. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1549, "end_step": 1684, "id": "33832393-d93c-4704-8eed-9cfdaab3d70d"}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: place_release: Right hand places the white hexagonal block onto the wooden base and releases its grip."}, {"label": "goal", "start_step": 1685, "end_step": 1850, "id": "52685135-29e2-4d7c-b427-c480ac56feee"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand holds the white hollow block and moves it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1851, "end_step": 1956, "id": "fa9bc312-368f-4b28-b87d-9f9b0054526e"}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the white hollow block from its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: press_release: Right hand presses the white cylindrical block with purple top into the hole on the wooden base and then releases the block."}, {"label": "goal", "start_step": 1957, "end_step": 2044, "id": "b30821c6-5c3a-4bb2-b30a-2e26175b0ffa"}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "goal", "start_step": 2045, "end_step": 2240, "id": "b9a52529-c862-40d2-a1e7-1d3ca38952a1"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2227, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the green block from its grip."}, {"label": "home", "start_step": 2290, "end_step": 2317, "id": "m2R9H0OCgAMGuGStEoiOp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal component on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal component upward from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block after positioning."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the white ring blocks on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the white ring block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod, adjusting its position to fit onto the rod completely."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block by closing fingers around it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green square block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table, adjusting the grip to become stable."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg to fit it properly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: other:lift_up: Left hand lifts upward empty from the table surface. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: place_release: Right hand places the white hexagonal block onto the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand holds the white hollow block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the white hollow block from its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: press_release: Right hand presses the white cylindrical block with purple top into the hole on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: reach: Right hand moves downward towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2227, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and static in the air at the left side. | Right hand: release: Right hand releases the green block from its grip."}], "episode_index": 48}
+{"source_uid": "4baaa9820454d21a", "num_frames": 2526, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial raised position on the upper left to the left front home position, making slight adjustments to wrist angle and finger posture during movement until it stops stably. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "goal", "start_step": 0, "end_step": 158, "id": "dd20596a-1112-4a4e-a5c5-2819c0fb29ad"}, {"label": "valid", "start_step": 0, "end_step": 2499, "id": "qg4dgipy94PelJjK0VXbV"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the front purple rod on the wooden base, making small adjustments to finger contact positions to establish a stable grip, while the rod remains supported by the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the front purple rod on the wooden base without moving, maintaining a stable grip with no observable changes in hand position, wrist posture or finger shape."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand makes slight adjustments to its grip on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 159, "end_step": 288, "id": "828a7b9b-f988-4276-8552-8cafb777d3f4"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block by opening fingers, separating from the block."}, {"label": "goal", "start_step": 289, "end_step": 388, "id": "3b85a5d7-18e3-4cc7-91d9-e4de3eef0c01"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 389, "end_step": 524, "id": "b596293d-f0db-49e5-ab1d-51a10ae58781"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post on the wooden assembly block, making small positional adjustments to nest the nut onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white cylindrical block, aligns and fits it onto the corresponding purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 525, "end_step": 608, "id": "71bf2dd2-d625-47cc-8c17-9282491b8bfa"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 609, "end_step": 754, "id": "f693e4c5-23d8-4c1a-8986-7b717659d3cb"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden peg rack, moving it above a purple peg on the rack."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, lowers the nut to fit it onto the peg, and makes slight finger adjustments to stabilize the part."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: press: Right hand presses the topmost white hexagonal block on the wooden assembly rack downward to seat it fully on the purple support rod."}, {"label": "goal", "start_step": 755, "end_step": 866, "id": "66463201-e05e-47c0-9422-7de1a037ddce"}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table next to the wooden rack, with fingers held slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp_transport: Right hand adjusts its finger grip on the white hexagonal nut and transports the nut upward to a position directly above the purple peg on the wooden peg base."}, {"label": "goal", "start_step": 867, "end_step": 934, "id": "2d15c714-3a28-42b9-b827-185cf988b86f"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, lowers the nut to fit onto the peg, and makes small positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple peg of the wooden base, opens fingers to release contact with the block."}, {"label": "goal", "start_step": 935, "end_step": 1024, "id": "8df82472-0c25-4b16-86fb-04f818c13142"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor finger adjustments to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface while moving the block upward and toward the empty purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1025, "end_step": 1152, "id": "ba8d0db3-f838-4e7c-83a8-97442a68fac8"}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the position and orientation of the held green hexagonal block to align its central hole with the empty purple rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the green block placed on the purple rod of the assembly stand."}, {"label": "goal", "start_step": 1153, "end_step": 1250, "id": "10a72192-e772-4b5d-8fb3-786bdb613e5a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the wooden peg assembly on the table."}, {"label": "goal", "start_step": 1251, "end_step": 1376, "id": "7928cbd3-166c-44af-b84a-87f6b6c72f58"}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg on the wooden base, positioning the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the matching peg on the wooden assembly base, sets the block down to rest stably on the base, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 1377, "end_step": 1454, "id": "c72f47ac-4fa8-4472-928e-49d7bbffa226"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and to the right, approaching the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight adjustments to establish a firm hold on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "goal", "start_step": 1455, "end_step": 2050, "id": "709f209f-d277-489c-9a35-027fd1a90831"}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block and slightly adjusts its position and orientation to align with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, letting it fall onto the right area of the black table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty toward the fallen white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the right table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1672, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reorient: Right hand holds the grasped white hexagonal block and rotates it about a quarter turn to adjust its orientation with minimal position change."}, {"label": "subtasks", "start_step": 1808, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport_place: Right hand holds the white hexagonal block, moves it left to the table area near the wooden rack, and lowers it until it is supported by the table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand maintains contact with the white hexagonal block on the table, slightly adjusting finger positions and wrist angle to stabilize the grasp."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the table surface and moves it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod and lowers it to fit onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, opens fingers to release the block."}, {"label": "goal", "start_step": 2051, "end_step": 2138, "id": "163863c4-58c5-4268-86a5-e56006fe4b10"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut on the black table and lifts it upward until the nut is completely off the table surface."}, {"label": "goal", "start_step": 2139, "end_step": 2240, "id": "240decde-60ad-4b11-b7fc-7d9e8e7872d0"}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down along the rod to rest stably on the white base of the rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated in the wooden rack, separating from the block."}, {"label": "goal", "start_step": 2241, "end_step": 2312, "id": "d0b05ced-55c5-4e8b-8451-6f0322a8e2cb"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and rightward across the table toward the green square block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand steadily holds the green hollow square block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2313, "end_step": 2448, "id": "be7c02ed-2f14-495a-9d81-5f48a25c7f93"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hollow square block completely off the black table surface and transports the block upward and rightward to the position directly above the white cylinder with a purple top on the wooden block base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place: Right hand moves the green hollow square block downward to align its hollow center with the purple top of the white cylinder, lowering the block until it rests stably on the cylinder."}, {"label": "home", "start_step": 2500, "end_step": 2525, "id": "BqQJuacuW_ZW4GkjEVoDk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial raised position on the upper left to the left front home position, making slight adjustments to wrist angle and finger posture during movement until it stops stably. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty from its initial raised position on the upper right toward the front purple rod fixed on the wooden base, adjusting finger posture slightly as it approaches the target rod."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the front purple rod on the wooden base, making small adjustments to finger contact positions to establish a stable grip, while the rod remains supported by the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the front purple rod on the wooden base without moving, maintaining a stable grip with no observable changes in hand position, wrist posture or finger shape."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand makes slight adjustments to its grip on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the block by opening fingers, separating from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple post on the wooden assembly block, making small positional adjustments to nest the nut onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white cylindrical block, aligns and fits it onto the corresponding purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the wooden peg rack, moving it above a purple peg on the rack."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden rack, lowers the nut to fit it onto the peg, and makes slight finger adjustments to stabilize the part."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: press: Right hand presses the topmost white hexagonal block on the wooden assembly rack downward to seat it fully on the purple support rod."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table next to the wooden rack, with fingers held slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp_transport: Right hand adjusts its finger grip on the white hexagonal nut and transports the nut upward to a position directly above the purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, lowers the nut to fit onto the peg, and makes small positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple peg of the wooden base, opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor finger adjustments to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface while moving the block upward and toward the empty purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the position and orientation of the held green hexagonal block to align its central hole with the empty purple rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the green block placed on the purple rod of the assembly stand."}, {"label": "subtasks", "start_step": 1162, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish stable contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the wooden peg assembly on the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple peg on the wooden base, positioning the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the matching peg on the wooden assembly base, sets the block down to rest stably on the base, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and to the right, approaching the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making slight adjustments to establish a firm hold on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block and slightly adjusts its position and orientation to align with the purple rod for assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, letting it fall onto the right area of the black table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty toward the fallen white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the right table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1672, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reorient: Right hand holds the grasped white hexagonal block and rotates it about a quarter turn to adjust its orientation with minimal position change."}, {"label": "subtasks", "start_step": 1808, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport_place: Right hand holds the white hexagonal block, moves it left to the table area near the wooden rack, and lowers it until it is supported by the table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand maintains contact with the white hexagonal block on the table, slightly adjusting finger positions and wrist angle to stabilize the grasp."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the table surface and moves it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod and lowers it to fit onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden base, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift: Right hand holds the white hexagonal nut on the black table and lifts it upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down along the rod to rest stably on the white base of the rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: release: Right hand opens fingers to release the white cylindrical block seated in the wooden rack, separating from the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: reach: Right hand moves empty downward and rightward across the table toward the green square block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: hold: Right hand steadily holds the green hollow square block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: lift_transport: Right hand lifts the green hollow square block completely off the black table surface and transports the block upward and rightward to the position directly above the white cylinder with a purple top on the wooden block base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2459, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no observable changes in position, wrist angle or finger posture. | Right hand: place: Right hand moves the green hollow square block downward to align its hollow center with the purple top of the white cylinder, lowering the block until it rests stably on the cylinder."}], "episode_index": 49}
+{"source_uid": "adbc55772e0620d2", "num_frames": 2266, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly from the initial raised position, adjusts fingers from an extended open state to a slightly curved shape, and stops at the left idle position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "goal", "start_step": 0, "end_step": 206, "id": "54886d48-ec00-4721-92d3-172ebac735eb"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "iyJGRXu1peT6ZAjEAsggx"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions and wrist angle to form a stable grip on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp on the green hexagonal block resting on the black table."}, {"label": "goal", "start_step": 207, "end_step": 344, "id": "201ea771-d786-45aa-adc8-b920fadcbda3"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg atop the existing white block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg of the wooden base until the block rests stably on the base, opening fingers to release the block."}, {"label": "goal", "start_step": 345, "end_step": 436, "id": "c39e7cbc-5676-471e-91fa-0e858011ee31"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger position adjustments to establish a secure grasp."}, {"label": "goal", "start_step": 437, "end_step": 564, "id": "9512709c-a4f2-415e-a3a7-a4cc7975afc6"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface and moves it upward to a position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg on the wooden assembly base, adjusting the nut's orientation and position to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand presses downward on the white top of the front green cylindrical block on the wooden pegboard."}, {"label": "goal", "start_step": 565, "end_step": 646, "id": "7c5ca703-4ab9-43c1-9757-bfc910c80924"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward with empty hand toward a white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the black table, making small adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 647, "end_step": 790, "id": "457d4227-a4a7-4ca8-80bc-75e1baece7f2"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the rack, makes slight positional adjustments, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand positions a white cylindrical block fully onto the purple rod of the wooden assembly base and releases grip on the block."}, {"label": "goal", "start_step": 791, "end_step": 888, "id": "74b38301-2976-4e66-a18d-d58318b92266"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to form a stable grip and lifts the block slightly upward off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward off the black table surface while maintaining a closed grip on the nut."}, {"label": "goal", "start_step": 889, "end_step": 988, "id": "66d2df86-766b-46f5-a92c-bee5a592620b"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal nut through the air to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place: Right hand lowers the held white hexagonal nut and seats it onto the purple peg of the wooden assembly stand, resting it on top of the existing green nut on the peg."}, {"label": "goal", "start_step": 989, "end_step": 1156, "id": "cea7f10f-c8ed-418d-8a84-a53caa1bde81"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the assembly stand toward the loose green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose green hexagonal nut on the table, with slight finger movements to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the area above the rightmost purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1157, "end_step": 1254, "id": "076f3068-fec5-4686-b34e-62a0b243b347"}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand adjusts the position of the green hexagonal block to align its central hole with the rightmost purple rod, lowers the block to fit it onto the rod and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press_release: Right hand applies downward pressure to the green block on the purple rod to seat it against the wooden base, with fingers opening to lose contact with the block."}, {"label": "goal", "start_step": 1255, "end_step": 1334, "id": "6cee563c-829f-4d89-89d6-34afd415b305"}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward across the black table surface with open fingers, approaching the white hexagonal nut resting near the loose green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table to establish a secure grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand maintains a closed grip on the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1335, "end_step": 1448, "id": "2bac1141-ffef-47ee-a7b0-80e30b0a8dd7"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the gripped white hexagonal nut upward and toward the wooden block assembly to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden block assembly, lowers the nut down the rod to seat it on the stacked blocks below, and makes small positional adjustments during the motion."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand holds the white hexagonal-topped block, aligns and fits it onto the wooden post on the wooden base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1449, "end_step": 1546, "id": "c8f06326-b4cb-45ec-bd73-c8e9d079abbc"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the table to the right of the wooden base, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, establishing a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it horizontally toward the purple vertical rod on the wooden assembly stand."}, {"label": "goal", "start_step": 1547, "end_step": 1776, "id": "890f6c81-0f04-42c6-a55d-91ce4792eec4"}, {"label": "subtasks", "start_step": 1575, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple vertical rod, and slides the nut down the rod to rest on the existing stack of nuts below."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, fully separating fingers from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: retreat: Right hand moves empty away from the assembly position toward the right side of the wooden stand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand extends its index finger to press the top white hexagonal block on the purple rod straight downward, until the block rests fully on the wooden base surface."}, {"label": "goal", "start_step": 1777, "end_step": 1896, "id": "26831b86-ccaf-42d7-a403-191c9d8e0a66"}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, with fingers held in a partially open pose as it approaches the nut."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to secure grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand grips the white hexagonal nut, moving upward and leftward from the area near the green block on the table to the position directly above the purple rod on the wooden assembly rack."}, {"label": "goal", "start_step": 1897, "end_step": 2004, "id": "d1488154-de02-43a9-bded-e435f7aef9cd"}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the rack, lowers the nut to fit it onto the rod, opens fingers to release the nut onto the purple component at the bottom of the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand holds the white capped bottle, moves downward to seat it in the empty slot of the wooden bottle rack, opening fingers to release the bottle as it rests on the rack."}, {"label": "goal", "start_step": 2005, "end_step": 2070, "id": "9a6cbae6-e53e-4fcf-9721-86ebab117291"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger contact positions to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand holds the green block and lifts it upward from the black table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2071, "end_step": 2194, "id": "203732a7-f9bf-43cc-baf3-76d7c14084c7"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the lifted green block, moving it upward and left to the position directly above the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the green block's position to align its central hole with the top of the target white cylinder below, then lowers the block to fit onto the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the fitted green block on top of the white cylinder with no visible movement of the hand or block."}, {"label": "home", "start_step": 2241, "end_step": 2265, "id": "vYOvJ2JIDSDKfVsrLnyYr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly from the initial raised position, adjusts fingers from an extended open state to a slightly curved shape, and stops at the left idle position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden base, with fingers slightly open, and does not contact the target block yet."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions and wrist angle to form a stable grip on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp on the green hexagonal block resting on the black table."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg atop the existing white block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg of the wooden base until the block rests stably on the base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger position adjustments to establish a secure grasp."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface and moves it upward to a position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg on the wooden assembly base, adjusting the nut's orientation and position to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand presses downward on the white top of the front green cylindrical block on the wooden pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward with empty hand toward a white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the black table, making small adjustments to finger contact positions."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the rack, makes slight positional adjustments, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand positions a white cylindrical block fully onto the purple rod of the wooden assembly base and releases grip on the block."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to form a stable grip and lifts the block slightly upward off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward off the black table surface while maintaining a closed grip on the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal nut through the air to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place: Right hand lowers the held white hexagonal nut and seats it onto the purple peg of the wooden assembly stand, resting it on top of the existing green nut on the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward from the assembly stand toward the loose green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose green hexagonal nut on the table, with slight finger movements to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the area above the rightmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand adjusts the position of the green hexagonal block to align its central hole with the rightmost purple rod, lowers the block to fit it onto the rod and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press_release: Right hand applies downward pressure to the green block on the purple rod to seat it against the wooden base, with fingers opening to lose contact with the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward across the black table surface with open fingers, approaching the white hexagonal nut resting near the loose green block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table to establish a secure grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand maintains a closed grip on the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the gripped white hexagonal nut upward and toward the wooden block assembly to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod on the wooden block assembly, lowers the nut down the rod to seat it on the stacked blocks below, and makes small positional adjustments during the motion."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand holds the white hexagonal-topped block, aligns and fits it onto the wooden post on the wooden base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the table to the right of the wooden base, approaching the nut without contact."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, establishing a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it horizontally toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1575, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple vertical rod, and slides the nut down the rod to rest on the existing stack of nuts below."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, fully separating fingers from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: retreat: Right hand moves empty away from the assembly position toward the right side of the wooden stand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: press: Right hand extends its index finger to press the top white hexagonal block on the purple rod straight downward, until the block rests fully on the wooden base surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, with fingers held in a partially open pose as it approaches the nut."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to finger positions to secure grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand grips the white hexagonal nut, moving upward and leftward from the area near the green block on the table to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the rack, lowers the nut to fit it onto the rod, opens fingers to release the nut onto the purple component at the bottom of the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: place_release: Right hand holds the white capped bottle, moves downward to seat it in the empty slot of the wooden bottle rack, opening fingers to release the bottle as it rests on the rack."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger contact positions to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: lift: Right hand holds the green block and lifts it upward from the black table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: transport: Right hand carries the lifted green block, moving it upward and left to the position directly above the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: mate: Right hand adjusts the green block's position to align its central hole with the top of the target white cylinder below, then lowers the block to fit onto the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left idle position without moving, with no contact to any operational objects. | Right hand: hold: Right hand holds the fitted green block on top of the white cylinder with no visible movement of the hand or block."}], "episode_index": 50}
+{"source_uid": "b991dc9302ed74e0", "num_frames": 3194, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "11512a2d-8ede-455b-9c9d-201dd2b01d13"}, {"label": "valid", "start_step": 0, "end_step": 3167, "id": "65vk9IPJ_umNoCDAofoqm"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 143, "end_step": 1032, "id": "f34056e0-2b11-4f4f-832a-abb72981e019"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is already inserted on the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green blocks placed on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above another target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the remaining green block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the third target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to make it firmly inserted."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1033, "end_step": 1174, "id": "1556f345-eada-44ea-9b9a-86dcb3e4593d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1175, "end_step": 1402, "id": "b072dcb2-3f0b-4081-8bdf-a4b861ae9dfb"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete initial assembly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to push it to the lower part of the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1403, "end_step": 1502, "id": "949b8991-3153-485f-8de4-4611c8e5532b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1503, "end_step": 1634, "id": "09c2ef15-900b-4854-9d3c-743ad272a190"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the upper left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand pushes the white hexagonal object down along the purple rod until it rests on the green base of the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the rod on the wooden base."}, {"label": "goal", "start_step": 1635, "end_step": 1736, "id": "9c9af3b4-7509-48ce-a592-af060dfcae30"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1737, "end_step": 1848, "id": "66b3188f-a195-4979-8e6a-4f081f00915d"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg by fitting it down along the peg, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1849, "end_step": 1930, "id": "416cf8a2-0204-415e-84c9-be7025054081"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1931, "end_step": 2032, "id": "c6886289-6f58-490b-8324-04bc3fea8d8d"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "goal", "start_step": 2033, "end_step": 2114, "id": "64025e50-46d7-41b7-87cc-e63791305252"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2218, "id": "9cb0ded7-7c71-415b-957e-d9bc8ae49cab"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting it downwards."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 2219, "end_step": 2286, "id": "fb32aba4-43ed-4bdb-9a15-834161deda5a"}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2287, "end_step": 2384, "id": "4296b9f7-55ba-40cf-bcea-4dad6da9cdb1"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cap on the purple rod to push it down slightly."}, {"label": "goal", "start_step": 2385, "end_step": 2706, "id": "6be9eae9-c37e-4262-8f13-f7aa6f07c643"}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table to adjust its orientation."}, {"label": "subtasks", "start_step": 2580, "end_step": 2647, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hollow cylindrical block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2707, "end_step": 2868, "id": "6cbea344-09bf-4d20-bb4a-8a29cc25e27f"}, {"label": "subtasks", "start_step": 2738, "end_step": 2841, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylindrical block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 2869, "end_step": 2976, "id": "71dc9f9f-4aef-4cd4-950f-326ed2cfc080"}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 2991, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 2977, "end_step": 3126, "id": "96eedf9c-35ab-4e08-bc1b-a2c2edb1e2bd"}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block towards the purple rod on the white bottle at the front right of the wooden rack."}, {"label": "subtasks", "start_step": 3030, "end_step": 3119, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, fitting it down onto the white bottle."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green cubic block after it is properly fitted onto the bottle."}, {"label": "home", "start_step": 3168, "end_step": 3193, "id": "W4O2h5xRVc0oAyv9Ofgui"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is already inserted on the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green blocks placed on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above another target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the remaining green block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the third target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the green block onto the purple rod and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to make it firmly inserted."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete initial assembly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to push it to the lower part of the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the upper left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand pushes the white hexagonal object down along the purple rod until it rests on the green base of the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white block onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg by fitting it down along the peg, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting it downwards."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white cap on the purple rod to push it down slightly."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2579, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table to adjust its orientation."}, {"label": "subtasks", "start_step": 2580, "end_step": 2647, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hollow cylindrical block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2738, "end_step": 2841, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylindrical block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 2991, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block towards the purple rod on the white bottle at the front right of the wooden rack."}, {"label": "subtasks", "start_step": 3030, "end_step": 3119, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod, fitting it down onto the white bottle."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green cubic block after it is properly fitted onto the bottle."}], "episode_index": 51}
+{"source_uid": "3aa849076ddb79f3", "num_frames": 3495, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty at the right initial position without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "89410cf5-ee22-4139-8336-31ed28d11595"}, {"label": "valid", "start_step": 0, "end_step": 3471, "id": "7qpHxOpruG1udr68E6Ydi"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves leftward and downward with open fingers, approaching the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand holds the green hexagonal block on the supporting surface and lifts it upward until the block is fully off the surface."}, {"label": "goal", "start_step": 155, "end_step": 254, "id": "2494f464-b014-43b0-8fed-443e258b4810"}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport_mate: Right hand moves the green hexagonal block to the position above the left purple peg, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface below the hand."}, {"label": "goal", "start_step": 255, "end_step": 432, "id": "f34c5870-40b8-4b15-8055-6e8462d9bcd0"}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted white hexagonal block vertically upward through the air."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes slight adjustments to wrist and finger positions to stabilize its grasp on the white hexagonal block near the table surface."}, {"label": "goal", "start_step": 433, "end_step": 538, "id": "cd297548-b981-4892-a4d5-0dab37e55092"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand holds the stabilized white hexagonal block and moves it upward and toward the wooden assembly rack, positioning the block directly above the leftmost purple post on the rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple post, lowers the block to fit it onto the post with minor wrist adjustments."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: place_release: Right hand holds the white hexagonal block, places it onto the purple rod on the wooden assembly base, and releases grip on the block."}, {"label": "goal", "start_step": 539, "end_step": 634, "id": "665368be-3e86-4353-bf3c-ffcd9a432156"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts finger positions and closes fingers around the block during the grasping process."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the table surface until the nut fully leaves the table."}, {"label": "goal", "start_step": 635, "end_step": 750, "id": "43408767-27bd-4797-985a-4e17d7f2fee9"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the empty purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, moves the nut downward to nest it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand aligns and seats the held white hexagonal sleeve onto the front-left purple rod of the wooden assembly base, opening fingers to release the fitted sleeve."}, {"label": "goal", "start_step": 751, "end_step": 852, "id": "3c6dc7ed-5e84-4368-9e94-7d67b3765f5a"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward to approach the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent green hexagonal block to form a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 853, "end_step": 1036, "id": "802ce638-6424-41d6-9aa7-ced8edf18a10"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal block, moving it to the position directly above the target purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal block, aligns its central hole with the purple rod, and slides the block down the rod to fit it in place."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward empty from the area above the wooden peg board toward the green hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1037, "end_step": 1174, "id": "c8a9168d-522e-464c-81ee-f2ef51b84b2b"}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the dark table surface to establish a grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand firmly holds the green hexagonal block, lifting it vertically upward to separate it completely from the black table surface."}, {"label": "goal", "start_step": 1175, "end_step": 1338, "id": "f2c8bfe9-384a-414a-88f6-6031b3d41861"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the green hexagonal block, moving it toward the purple vertical post on the wooden assembly base until the block is positioned directly above the post."}, {"label": "subtasks", "start_step": 1208, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, making slight positional adjustments while moving the block downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the closest white hexagonal block on the table, remaining empty without contacting the target block."}, {"label": "goal", "start_step": 1339, "end_step": 1436, "id": "2812d5a1-c493-4b55-9c87-d48e9fab7640"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the closest white hexagonal block on the table, fingers close and adjust positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1437, "end_step": 1538, "id": "1b0c7ec6-827f-4845-af8c-ae1baace97b3"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward from above the block assembly toward the closer white hexagonal block on the table."}, {"label": "goal", "start_step": 1539, "end_step": 1620, "id": "201b39a4-eeb9-4c1a-b556-51da433fea20"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the closer white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 1621, "end_step": 1906, "id": "eb7be7e6-1396-4ac2-91c1-8a0c8522a270"}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it leftward and upward to the position directly above the rightmost empty peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the target peg, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the peg, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to let the block slide down the rod to the wooden base."}, {"label": "goal", "start_step": 1907, "end_step": 2102, "id": "d7c41496-3df9-41c4-88b1-f1cadea1ff49"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the black table surface, with fingers held in an open extended position."}, {"label": "subtasks", "start_step": 1980, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions around the loose white hexagonal block, closing fingers gradually while slightly repositioning the block to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward, raising the block completely off the black table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block stationary above the right area of the black table surface, with no visible movement or finger adjustment."}, {"label": "goal", "start_step": 2103, "end_step": 2214, "id": "3006886b-5291-4e48-83d1-735dfd80487f"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward, carrying it to the position directly above the empty top-right slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional adjustments to align the block's central hole with the purple peg in the target slot, and lowers the block gradually toward the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens fingers to release the white bottle seated in the wooden rack, separating fully from the bottle by the end of the segment."}, {"label": "goal", "start_step": 2215, "end_step": 2302, "id": "a0ba9cbb-166c-41ae-a7eb-529371a94df3"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward with an open posture toward the green cube placed on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the green cube on the table surface to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward while holding the green cube, lifting the object completely off the supporting table surface."}, {"label": "goal", "start_step": 2303, "end_step": 3384, "id": "ba5d3289-506c-4ab7-a5ef-767e825d8141"}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2564, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand adjusts the green cubic block to align its central hole with the purple topped post for fitting, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2565, "end_step": 2924, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand stays empty above the wooden tray without noticeable movement as the released green block slides down to the table surface."}, {"label": "subtasks", "start_step": 2925, "end_step": 2984, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from above the tray toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the green block, flips the block to an upright orientation with its central hole facing upward, adjusts finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00062", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped green cubic block from the black table surface, raising the block completely off the table."}, {"label": "subtasks", "start_step": 3218, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air back to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 3255, "end_step": 3389, "id": "reasoning-language-00064", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position of the green cubic block to align its central hole with the purple topped post, attempting to seat the block onto the post."}, {"label": "home", "start_step": 3472, "end_step": 3494, "id": "wTQlfYrZEHM0NDspfmUfD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty at the right initial position without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves leftward and downward with open fingers, approaching the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand holds the green hexagonal block on the supporting surface and lifts it upward until the block is fully off the surface."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport_mate: Right hand moves the green hexagonal block to the position above the left purple peg, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface below the hand."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted white hexagonal block vertically upward through the air."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes slight adjustments to wrist and finger positions to stabilize its grasp on the white hexagonal block near the table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand holds the stabilized white hexagonal block and moves it upward and toward the wooden assembly rack, positioning the block directly above the leftmost purple post on the rack."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple post, lowers the block to fit it onto the post with minor wrist adjustments."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: place_release: Right hand holds the white hexagonal block, places it onto the purple rod on the wooden assembly base, and releases grip on the block."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts finger positions and closes fingers around the block during the grasping process."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the table surface until the nut fully leaves the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the empty purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, moves the nut downward to nest it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple peg without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand aligns and seats the held white hexagonal sleeve onto the front-left purple rod of the wooden assembly base, opening fingers to release the fitted sleeve."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward to approach the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent green hexagonal block to form a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the white hexagonal block, moving it to the position directly above the target purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal block, aligns its central hole with the purple rod, and slides the block down the rod to fit it in place."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward empty from the area above the wooden peg board toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the dark table surface to establish a grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand firmly holds the green hexagonal block, lifting it vertically upward to separate it completely from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the green hexagonal block, moving it toward the purple vertical post on the wooden assembly base until the block is positioned directly above the post."}, {"label": "subtasks", "start_step": 1208, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, making slight positional adjustments while moving the block downward to nest it onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the closest white hexagonal block on the table, remaining empty without contacting the target block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the closest white hexagonal block on the table, fingers close and adjust positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty downward and rightward from above the block assembly toward the closer white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the closer white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it leftward and upward to the position directly above the rightmost empty peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligns its central hole with the target peg, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the fitted white hexagonal block on the peg, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to let the block slide down the rod to the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the black table surface, with fingers held in an open extended position."}, {"label": "subtasks", "start_step": 1980, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions around the loose white hexagonal block, closing fingers gradually while slightly repositioning the block to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward, raising the block completely off the black table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: hold: Right hand holds the white hexagonal block stationary above the right area of the black table surface, with no visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward, carrying it to the position directly above the empty top-right slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand holds the white hexagonal block, makes slight positional adjustments to align the block's central hole with the purple peg in the target slot, and lowers the block gradually toward the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens fingers to release the white bottle seated in the wooden rack, separating fully from the bottle by the end of the segment."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward with an open posture toward the green cube placed on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the green cube on the table surface to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward while holding the green cube, lifting the object completely off the supporting table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2564, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate_release: Right hand adjusts the green cubic block to align its central hole with the purple topped post for fitting, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2565, "end_step": 2924, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: idle: Right hand stays empty above the wooden tray without noticeable movement as the released green block slides down to the table surface."}, {"label": "subtasks", "start_step": 2925, "end_step": 2984, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward from above the tray toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the green block, flips the block to an upright orientation with its central hole facing upward, adjusts finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00062", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the stably grasped green cubic block from the black table surface, raising the block completely off the table."}, {"label": "subtasks", "start_step": 3218, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted green cubic block through the air back to the position directly above the purple topped post on the wooden tray."}, {"label": "subtasks", "start_step": 3255, "end_step": 3389, "id": "reasoning-language-00064", "text": "Left hand: hold: Left hand holds the edge of the wooden block assembly base without any observable movement or hand shape change. | Right hand: mate: Right hand adjusts the position of the green cubic block to align its central hole with the purple topped post, attempting to seat the block onto the post."}], "episode_index": 52}
+{"source_uid": "d055a194ab953b6e", "num_frames": 3080, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block, with wrist rotating slightly to adjust hand orientation."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "50ed2e6a-0ba9-4112-8ac4-1c2c951df311"}, {"label": "valid", "start_step": 0, "end_step": 3051, "id": "mt34euIaG2mxqKoc3ekTF"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 127, "end_step": 236, "id": "b0d9d6b4-6dda-4ade-b388-922afa6f6a50"}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, adjusting position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates the white hollow hexagonal block onto the left purple peg and releases the block."}, {"label": "goal", "start_step": 237, "end_step": 326, "id": "726bc3d4-9912-43c4-97a5-207da54ff5af"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface."}, {"label": "goal", "start_step": 327, "end_step": 462, "id": "05516823-8b01-4f0c-af9f-fb553f630f50"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward to the top of the leftmost front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost front purple peg of the wooden rack by moving it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates and releases the white ring on the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 463, "end_step": 534, "id": "70f4dc8d-7b3d-4705-aeb0-0463a2114e1c"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 535, "end_step": 730, "id": "f7d1c565-199b-46c9-aff7-e3762f29b837"}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the wooden rack, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped part onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 731, "end_step": 832, "id": "d09f3d13-cca3-4db4-95bb-7d403f2ae79c"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring-shaped part, with fingers opening and moving away from the part."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal part on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to above the rightmost purple rod of the wooden rack."}, {"label": "goal", "start_step": 833, "end_step": 946, "id": "623681e7-cf6a-4c64-bddd-1b106da05c15"}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple rod by lowering it along the rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening gradually until fully separated from the piece."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the rightmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers opening from the gripping position."}, {"label": "goal", "start_step": 947, "end_step": 1022, "id": "93251519-f22b-4ab6-9da6-c84a34e68598"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1023, "end_step": 1436, "id": "6076d01b-3456-4405-b2e9-8c5ebc3d8b01"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, adjusting the block's position to align its hole with the peg and lowering it downward."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the green hexagonal block upward slightly to readjust its alignment with the purple peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg again, lowering the block onto the peg and adjusting its position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand fits the white annular part onto the green cylindrical part on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1437, "end_step": 1544, "id": "13715319-0dbd-4f86-a8ff-87da93ea1bc3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal part on the table with empty hand."}, {"label": "subtasks", "start_step": 1492, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, adjusting fingers to form a stable grip while the object rests on the table surface."}, {"label": "goal", "start_step": 1545, "end_step": 1854, "id": "8630fade-4c55-4843-a6fa-3786008aa9c0"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the wooden peg board on the right side."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal object, which falls onto the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches down towards the white hexagonal object on the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table near the peg board, adjusting fingers to secure a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upwards to the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns and fits the white hexagonal object onto the green peg of the wooden board, adjusting position slightly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal object on the green peg of the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring onto the peg of the wooden rack."}, {"label": "goal", "start_step": 1855, "end_step": 1940, "id": "4a207c0d-0cc6-4d5d-8bd4-20f8ee55fbfe"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table."}, {"label": "goal", "start_step": 1941, "end_step": 2050, "id": "57713ee9-573a-4958-9d87-12b559060b15"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal block from the right side of the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening until separated from the block."}, {"label": "goal", "start_step": 2051, "end_step": 2252, "id": "fe76f946-e05d-4105-a52e-025ea2afd6f0"}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward, lifting the block off the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block in the air above the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white ring-shaped component from the right side of the table toward the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 2253, "end_step": 2494, "id": "f4a67475-3407-41e8-b2cd-2a6e273f4f81"}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped component with the purple rod by aligning the component's hole with the rod and inserting the rod into it."}, {"label": "subtasks", "start_step": 2318, "end_step": 2511, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: press: Right hand presses the white ring-shaped component downward along the purple rod."}, {"label": "goal", "start_step": 2495, "end_step": 2580, "id": "09715525-663b-42bd-bde9-644148789f2b"}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green square ring resting on the right side of the black table."}, {"label": "goal", "start_step": 2581, "end_step": 2946, "id": "0cc14463-52ad-4caa-be38-95ae7b68d7d4"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green square ring from the table surface and transports it leftward toward the wooden rack with bottles."}, {"label": "subtasks", "start_step": 2610, "end_step": 2849, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green square ring with the top of the rightmost front bottle and slowly moves the ring downward along the bottle body."}, {"label": "subtasks", "start_step": 2850, "end_step": 2954, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green square ring fitted on the target bottle without any observable movement."}, {"label": "home", "start_step": 3052, "end_step": 3079, "id": "i_13ficQ9VNSYwrD31B5k"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block, with wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, adjusting position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates the white hollow hexagonal block onto the left purple peg and releases the block."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward to the top of the leftmost front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost front purple peg of the wooden rack by moving it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand mates and releases the white ring on the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal nut upward and rightward toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the wooden rack, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring-shaped part, with fingers opening and moving away from the part."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal part on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to above the rightmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple rod by lowering it along the rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod, with fingers opening gradually until fully separated from the piece."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: idle: Right hand remains empty above the rightmost purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers opening from the gripping position."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg, adjusting the block's position to align its hole with the peg and lowering it downward."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the green hexagonal block upward slightly to readjust its alignment with the purple peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg again, lowering the block onto the peg and adjusting its position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate_release: Right hand fits the white annular part onto the green cylindrical part on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal part on the table with empty hand."}, {"label": "subtasks", "start_step": 1492, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, adjusting fingers to form a stable grip while the object rests on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the wooden peg board on the right side."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white hexagonal object, which falls onto the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches down towards the white hexagonal object on the black table near the wooden peg board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table near the peg board, adjusting fingers to secure a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upwards to the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns and fits the white hexagonal object onto the green peg of the wooden board, adjusting position slightly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal object on the green peg of the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white ring onto the peg of the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white hexagonal block from the right side of the table to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening until separated from the block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward, lifting the block off the black table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal block in the air above the table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: transport: Right hand transports the white ring-shaped component from the right side of the table toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand mates the white ring-shaped component with the purple rod by aligning the component's hole with the rod and inserting the rod into it."}, {"label": "subtasks", "start_step": 2318, "end_step": 2511, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: press: Right hand presses the white ring-shaped component downward along the purple rod."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: reach: Right hand reaches toward the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green square ring resting on the right side of the black table."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green square ring from the table surface and transports it leftward toward the wooden rack with bottles."}, {"label": "subtasks", "start_step": 2610, "end_step": 2849, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: mate: Right hand aligns the hole of the green square ring with the top of the rightmost front bottle and slowly moves the ring downward along the bottle body."}, {"label": "subtasks", "start_step": 2850, "end_step": 2954, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious displacement or rotation. | Right hand: hold: Right hand holds the green square ring fitted on the target bottle without any observable movement."}], "episode_index": 53}
+{"source_uid": "f58d2594cfd80e30", "num_frames": 2444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward toward the green cube located at the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 144, "id": "1572bb5d-0088-4a26-a7c6-745979d165bb"}, {"label": "valid", "start_step": 0, "end_step": 2416, "id": "c9Lb9OxmC_88VbZWCiRpk"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers and position to grasp the green cube at the front left of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 145, "end_step": 274, "id": "6ac3f9df-7e8e-4975-84e9-7440193db4b8"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 275, "end_step": 448, "id": "3066ad53-69c1-4ad3-9b6a-81828a054efe"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it to above the front-left purple rod of the assembly rack."}, {"label": "goal", "start_step": 449, "end_step": 594, "id": "52728a99-96fb-4b48-b0f7-3ce2149e0b8d"}, {"label": "subtasks", "start_step": 472, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the assembly rack by pressing it down along the rod."}, {"label": "goal", "start_step": 595, "end_step": 690, "id": "4b14942e-0d1b-45f6-9e0d-1a1012844651"}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black tabletop."}, {"label": "goal", "start_step": 691, "end_step": 818, "id": "97875c20-92dc-4d89-9552-12917a3ec48f"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple column on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple column by aligning and inserting it onto the column."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 819, "end_step": 908, "id": "6531fedb-182a-4fdd-acf2-f6b1a4b5dedf"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 909, "end_step": 1304, "id": "d082a4aa-ec17-44f4-8ac9-766e63bcabaa"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1207, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block near the wooden base and grasps it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1305, "end_step": 1400, "id": "45e126d3-ebb4-4dfd-b090-dc7e543783c2"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1401, "end_step": 1520, "id": "f4cb8e5b-3b7f-4a73-b7fc-b9d346b89c93"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1521, "end_step": 1596, "id": "3f09edf3-3607-4111-89d9-5aab1c92acc0"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1597, "end_step": 1750, "id": "b9ee16c3-b9e0-4286-a78f-174421daa8c8"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal tube from the tabletop and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal tube onto the corresponding post on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring on the peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1751, "end_step": 1824, "id": "5ba155a7-e2ef-4410-95b9-c34afee35c88"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table, fingers closing around the ring."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1825, "end_step": 1916, "id": "6d94ae17-f3b6-4ce9-b1c1-3c90d070ebbc"}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1917, "end_step": 2010, "id": "9cc4fdce-c0a7-40ce-b038-8adc4775c8db"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 2011, "end_step": 2120, "id": "c9aa8099-cf60-4cae-8d2d-ec1935841c11"}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2121, "end_step": 2210, "id": "159ac923-b00a-4c03-9d94-49105eac899a"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring and lifts fingers away from the ring."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 2211, "end_step": 2360, "id": "62771bda-687b-40b0-8501-b00fc23c752e"}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2369, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post by aligning the block's hole with the post and pressing it down to fit."}, {"label": "home", "start_step": 2417, "end_step": 2443, "id": "bL1JVg_tzJEGQgqMNP5Yo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward toward the green cube located at the front left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers and position to grasp the green cube at the front left of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white block onto the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it to above the front-left purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 472, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple rod of the assembly rack by pressing it down along the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black tabletop."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the leftmost purple column on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple column by aligning and inserting it onto the column."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower area of the black table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1207, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block near the wooden base and grasps it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal tube from the tabletop and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal tube onto the corresponding post on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring on the peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white ring on the black table, fingers closing around the ring."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and placing it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring and lifts fingers away from the ring."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2369, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post by aligning the block's hole with the post and pressing it down to fit."}], "episode_index": 54}
+{"source_uid": "f6a8cae859fd604a", "num_frames": 2202, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position on the left side of the workspace slightly forward and down to its natural home resting position. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "7ed4a343-d5a1-4387-b712-09f23d681ddd"}, {"label": "valid", "start_step": 0, "end_step": 2173, "id": "1BDnMc6QZXXlbbpYAw5X8"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, fingers close around the nut while adjusting finger positions and wrist angle to establish a stable grip, with the nut remaining near the table surface throughout this interval."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 129, "end_step": 214, "id": "b126f96d-baff-4fbf-9ef2-db8ed2c57f6c"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block through the air toward the purple peg on the wooden base, aligning the block's central hole with the peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold_place: Right hand holds the green hexagonal block fitted on the purple peg stationary, moving the block downward along the peg until it rests stably on the lower green support block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden peg stand toward the white hexagonal block placed on the table near the stand, with no contact with the block yet."}, {"label": "goal", "start_step": 215, "end_step": 404, "id": "f5cf5d6e-069a-4d0c-af25-96ecd2a9401c"}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish contact with the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes slight finger adjustments around the white hexagonal block to refine the grasp, with small movements of the fingers observed."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the black table surface and transports it to the position directly above the purple peg on the wooden assembly block."}, {"label": "goal", "start_step": 405, "end_step": 550, "id": "e5d5721b-f431-4d62-9283-cc7014223689"}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the top section of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to move it further toward the wooden block base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves vertically downward to seat it on the purple peg of the wooden assembly base, opens fingers to release the block as the block becomes stably supported by the peg."}, {"label": "goal", "start_step": 551, "end_step": 660, "id": "72828a8c-5d4c-4060-9869-4cfe5d4c9b23"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers close and make small adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut block, moves it upward and toward the wooden block assembly rack, transporting the block to the position above the purple pegs of the rack."}, {"label": "goal", "start_step": 661, "end_step": 808, "id": "a74d81fd-2b2f-4b72-8cf3-609319ce449c"}, {"label": "subtasks", "start_step": 682, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with a purple peg on the wooden rack, moves the block downward to nest it onto the peg, forming an assembled connection with the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns the nut with a purple rod on the light wooden base, lowers the nut to fit securely onto the rod, and opens fingers to release the seated nut."}, {"label": "goal", "start_step": 809, "end_step": 892, "id": "1fd81d15-6eba-404e-916a-50cb5a79aec4"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden base toward a loose white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the black tabletop, closes fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut, moving it upward and rightward toward the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 893, "end_step": 988, "id": "15fc78c3-999d-46c1-8971-a1df4b0cf911"}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple post, and lowers it to nest onto the post."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple post without observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple peg on the wooden base, seats the block stably on the base, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 989, "end_step": 1074, "id": "240c688c-12a9-453c-8a86-2fe949a578be"}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden block set towards the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table to establish contact and form a grasp on the block."}, {"label": "goal", "start_step": 1075, "end_step": 1172, "id": "6f7c98eb-3db2-468b-96a3-a07e2798cdc0"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making small wrist and finger adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg of the wooden assembly downward to seat it fully."}, {"label": "goal", "start_step": 1173, "end_step": 1250, "id": "8e205287-c871-4d72-84bf-41957f144c38"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut block on the dark table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 1251, "end_step": 1342, "id": "4372a4c0-a46c-4699-92f3-27a8972131a0"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and carries it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple rod on the assembly base, makes slight positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white cylindrical block on the purple rod of the wooden tray, applies downward pressure to seat the block stably, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 1343, "end_step": 1416, "id": "c3bae58a-76da-4fc9-a167-5f13736d81dc"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block resting on the dark table surface near the wooden tray."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "goal", "start_step": 1417, "end_step": 1562, "id": "3d0233f4-ce1e-46b6-93c2-db82e972b341"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand makes fine positional and orientational adjustments to the white hexagonal block, aligns its central hole with the purple rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, moving fingers away from the block surface."}, {"label": "goal", "start_step": 1563, "end_step": 1802, "id": "8cf8d141-f302-4367-8055-d7e6381f8fde"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the misaligned white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand grasps the misaligned white hexagonal block, adjusts its alignment with the purple rod, and presses it down to seat the block fully onto the rod base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward and to the right toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish contact for a grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward to the position above the purple rod on the wooden assembly block."}, {"label": "goal", "start_step": 1803, "end_step": 1910, "id": "bc3cca3a-2315-4841-8af1-14918760b012"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple rod on the wooden assembly block without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand releases the white plastic component fitted on the purple rod of the assembly stand, with fingers opening and withdrawing from the component to break contact."}, {"label": "goal", "start_step": 1911, "end_step": 1998, "id": "ca8b21b7-1593-4d52-9bfb-a8bf1ac92b76"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty diagonally downward and rightward toward the small green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the small green cubic block on the table, with fingers gradually closing around the block to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand holds the gripped green cubic block and moves upward, lifting the block fully off the black table surface."}, {"label": "goal", "start_step": 1999, "end_step": 2130, "id": "3b6c450d-c690-4853-aebb-850d1af7d28d"}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green block, moving it upward and toward the target peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block that rests on the peg."}, {"label": "home", "start_step": 2174, "end_step": 2201, "id": "F3VL8kKctoT84YuwsBegP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position on the left side of the workspace slightly forward and down to its natural home resting position. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side of the workspace down and left toward the green hexagonal nut resting on the black table surface near the wooden peg board, with fingers slightly extended and no contact with any objects during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, fingers close around the nut while adjusting finger positions and wrist angle to establish a stable grip, with the nut remaining near the table surface throughout this interval."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block through the air toward the purple peg on the wooden base, aligning the block's central hole with the peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold_place: Right hand holds the green hexagonal block fitted on the purple peg stationary, moving the block downward along the peg until it rests stably on the lower green support block."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden peg stand toward the white hexagonal block placed on the table near the stand, with no contact with the block yet."}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish contact with the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes slight finger adjustments around the white hexagonal block to refine the grasp, with small movements of the fingers observed."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the black table surface and transports it to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the top section of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to move it further toward the wooden block base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves vertically downward to seat it on the purple peg of the wooden assembly base, opens fingers to release the block as the block becomes stably supported by the peg."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers close and make small adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut block, moves it upward and toward the wooden block assembly rack, transporting the block to the position above the purple pegs of the rack."}, {"label": "subtasks", "start_step": 682, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with a purple peg on the wooden rack, moves the block downward to nest it onto the peg, forming an assembled connection with the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns the nut with a purple rod on the light wooden base, lowers the nut to fit securely onto the rod, and opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden base toward a loose white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the black tabletop, closes fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut, moving it upward and rightward toward the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns it with the purple post, and lowers it to nest onto the post."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple post without observable movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand moves the held white hexagonal block downward onto the purple peg on the wooden base, seats the block stably on the base, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward from the wooden block set towards the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table to establish contact and form a grasp on the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making small wrist and finger adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg of the wooden assembly downward to seat it fully."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut block on the dark table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and carries it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple rod on the assembly base, makes slight positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: place_release: Right hand holds the white cylindrical block on the purple rod of the wooden tray, applies downward pressure to seat the block stably, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block resting on the dark table surface near the wooden tray."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand makes fine positional and orientational adjustments to the white hexagonal block, aligns its central hole with the purple rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the misaligned white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand grasps the misaligned white hexagonal block, adjusts its alignment with the purple rod, and presses it down to seat the block fully onto the rod base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty downward and to the right toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table to establish contact for a grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple rod on the wooden assembly block without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand releases the white plastic component fitted on the purple rod of the assembly stand, with fingers opening and withdrawing from the component to break contact."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: reach: Right hand moves empty diagonally downward and rightward toward the small green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: grasp: Right hand makes contact with the small green cubic block on the table, with fingers gradually closing around the block to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: lift: Right hand holds the gripped green cubic block and moves upward, lifting the block fully off the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: transport: Right hand carries the green block, moving it upward and toward the target peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home resting position without moving, with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block that rests on the peg."}], "episode_index": 55}
+{"source_uid": "2fabb7ce659de73e", "num_frames": 2395, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty with an open pose from the right initial position toward the green hexagonal nut in front of the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "6ec618cf-83a6-4e4a-acf2-388b6be8f12e"}, {"label": "valid", "start_step": 0, "end_step": 2370, "id": "S8y9ujpBVryxVJYg7_oNA"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to form a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 250, "id": "a5eb508b-a65c-4127-931c-1d20e47dd3da"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden assembly base, positioning it directly above the target purple post."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the wooden base and slides the block down along the post to fit it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden stand base, fingers open to release the block once it rests stably."}, {"label": "goal", "start_step": 251, "end_step": 326, "id": "71343a9d-cb6b-4911-8f7d-fcaadb2fa1bc"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block on the table, approaching the target with fingers slightly open."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "goal", "start_step": 327, "end_step": 448, "id": "2aa3a6c5-ac45-48b9-bd86-ca4e040e8c8d"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, lowering the nut to fit securely onto the post."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the stacked white and green block seated on the front purple peg of the wooden base, opening fingers to separate fully from the stabilized block."}, {"label": "goal", "start_step": 449, "end_step": 608, "id": "e17449a7-5070-44f3-9238-c57dc5207775"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to finger and wrist position to establish a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface with no visible movement of the hand, fingers, or grasped block."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the target purple post on the wooden block base."}, {"label": "goal", "start_step": 609, "end_step": 738, "id": "231dc345-8931-4d2b-806d-8525973c88a2"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and fits the nut down onto the post to complete the nesting assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: press: Right hand applies downward pressure on the white cylindrical block on the leftmost front purple peg to seat it fully onto the peg."}, {"label": "goal", "start_step": 739, "end_step": 826, "id": "9794f851-c61b-4653-a179-f8d3554cd299"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table directly in front of the wooden peg base."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "goal", "start_step": 827, "end_step": 920, "id": "90b7eec0-ac2f-421b-90d7-e7dbbc7b0d63"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple rod and lowers it to fit the nut onto the rod until it is fully seated on the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden pegboard and opens fingers to release the block as it becomes supported by the peg."}, {"label": "goal", "start_step": 921, "end_step": 998, "id": "e1f6c1c3-16fc-4eab-ae66-42ab9c86195b"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward away from the pegboard toward the green hexagonal block on the black table surface, with fingers slightly spread while approaching the target."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish grip on the block."}, {"label": "goal", "start_step": 999, "end_step": 1124, "id": "856de5d0-5ccc-4f97-b2a4-01d0f7bb0d3d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting it completely off the supporting table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden block assembly, positioning it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the top end of the purple rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod until it rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly board toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1125, "end_step": 1408, "id": "d261cf01-be9d-4a06-9c16-82392197d4b3"}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp_release: Right hand contacts the white hexagonal nut on the table, adjusting finger positions during grasping attempts, causing the nut to topple onto its side as fingers release contact."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the toppled white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reorient: Right hand contacts the toppled white hexagonal nut, rotating it approximately 90 degrees to set it upright on the table with minimal positional change."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the upright white hexagonal nut to establish a stable grip."}, {"label": "goal", "start_step": 1409, "end_step": 1552, "id": "212a2277-937b-4fcf-ac5c-109b8e6c0ec1"}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden base, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block with purple top placed on the wooden block holder."}, {"label": "goal", "start_step": 1553, "end_step": 1632, "id": "fdc3f61d-0585-4625-aeb5-fd61bda2bf80"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward across the table surface to approach the upper white hexagonal nut."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers to make contact with and establish grip on the upper white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table to the right of the wooden stand, lifts it vertically upward until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 1633, "end_step": 1730, "id": "4d6a1787-3ff2-4df6-9d99-f3e60fa57093"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the suspended white hexagonal nut upward and leftward, moving it to a position directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, lowers the nut along the rod to fit it into the stacked block assembly on the wooden stand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod without obvious movement."}, {"label": "goal", "start_step": 1731, "end_step": 1810, "id": "8d833c0a-4403-43ff-a713-564197c0c27c"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block, moves empty downward and rightward toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting it completely off the table surface."}, {"label": "goal", "start_step": 1811, "end_step": 1914, "id": "81254d45-040a-47bc-a286-cc7191121517"}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the white ring-shaped block, moves it upward and leftward from the right side of the table to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white ring-shaped block with the purple rod on the stand, moves the block downward to nest it onto the rod with slight wrist adjustments for correct positioning."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the white hollow block on the wooden block stand, separating fully from the block by the end of the segment."}, {"label": "goal", "start_step": 1915, "end_step": 2036, "id": "b32a20e3-c320-46f4-964e-81c404f39184"}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cube on the black table surface, approaching the target cube."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a grasp, with the cube remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green square block on the dark table surface without moving."}, {"label": "goal", "start_step": 2037, "end_step": 2260, "id": "32e8a14e-e2ff-4cf8-8e84-c9a171dd3e50"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface, transporting it upward to position above the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes small finger adjustments to its grip on the green square block, stabilizing the block on the purple peg."}, {"label": "home", "start_step": 2371, "end_step": 2394, "id": "H1izj-O1Cd5sGH28mswa7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty with an open pose from the right initial position toward the green hexagonal nut in front of the wooden peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table, making small adjustments to form a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden assembly base, positioning it directly above the target purple post."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the wooden base and slides the block down along the post to fit it in place."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden stand base, fingers open to release the block once it rests stably."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden stand toward the white hexagonal block on the table, approaching the target with fingers slightly open."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, lowering the nut to fit securely onto the post."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the stacked white and green block seated on the front purple peg of the wooden base, opening fingers to separate fully from the stabilized block."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to finger and wrist position to establish a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface with no visible movement of the hand, fingers, or grasped block."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the target purple post on the wooden block base."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and fits the nut down onto the post to complete the nesting assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: press: Right hand applies downward pressure on the white cylindrical block on the leftmost front purple peg to seat it fully onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table directly in front of the wooden peg base."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the rightmost purple rod and lowers it to fit the nut onto the rod until it is fully seated on the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden pegboard and opens fingers to release the block as it becomes supported by the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward away from the pegboard toward the green hexagonal block on the black table surface, with fingers slightly spread while approaching the target."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting it completely off the supporting table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the wooden block assembly, positioning it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the top end of the purple rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod until it rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly board toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp_release: Right hand contacts the white hexagonal nut on the table, adjusting finger positions during grasping attempts, causing the nut to topple onto its side as fingers release contact."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the toppled white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reorient: Right hand contacts the toppled white hexagonal nut, rotating it approximately 90 degrees to set it upright on the table with minimal positional change."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the upright white hexagonal nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden base, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block with purple top placed on the wooden block holder."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward across the table surface to approach the upper white hexagonal nut."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers to make contact with and establish grip on the upper white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table to the right of the wooden stand, lifts it vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the suspended white hexagonal nut upward and leftward, moving it to a position directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, lowers the nut along the rod to fit it into the stacked block assembly on the wooden stand."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block, moves empty downward and rightward toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting it completely off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the white ring-shaped block, moves it upward and leftward from the right side of the table to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white ring-shaped block with the purple rod on the stand, moves the block downward to nest it onto the rod with slight wrist adjustments for correct positioning."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the white hollow block on the wooden block stand, separating fully from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cube on the black table surface, approaching the target cube."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a grasp, with the cube remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green square block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface, transporting it upward to position above the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes small finger adjustments to its grip on the green square block, stabilizing the block on the purple peg."}], "episode_index": 56}
+{"source_uid": "5806b40f5efee6cc", "num_frames": 2311, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "4afecfb9-8305-4ad9-a3aa-6434f5e5b511"}, {"label": "valid", "start_step": 0, "end_step": 2286, "id": "WUIC25rMFdeQEa4iq4J7x"}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block from the table surface."}, {"label": "goal", "start_step": 141, "end_step": 258, "id": "77d7a4bd-9aea-4d1d-81bb-f82631a4b615"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod, pressing it down to fit properly."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the leftmost purple rod."}, {"label": "goal", "start_step": 259, "end_step": 368, "id": "9b2c872f-25a3-429b-8fe7-456f8cc8b293"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 369, "end_step": 494, "id": "8409ac3b-85a6-442b-9857-180d1048132b"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple post by aligning and inserting it."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 495, "end_step": 574, "id": "51f84792-7641-4228-a964-496dc65c7d09"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves downwards away from the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around the object."}, {"label": "goal", "start_step": 575, "end_step": 738, "id": "fb8205f8-4557-416d-878d-96ea9e1996c1"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod of the wooden rack by aligning and lowering it."}, {"label": "goal", "start_step": 739, "end_step": 910, "id": "966dd693-7c63-4999-8abb-71efc57a4cb0"}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 911, "end_step": 1092, "id": "b8165690-8ec0-4ec8-85b2-17e6f7046668"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1093, "end_step": 1176, "id": "6920b945-a336-4fd0-9ac1-424ec515124d"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the black tabletop to establish a stable grip."}, {"label": "goal", "start_step": 1177, "end_step": 1288, "id": "c689fb78-e4ff-48c5-931c-b765e8c31e92"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1289, "end_step": 1432, "id": "b48f7564-4bae-4c70-9504-f3efe2e567af"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers around the white hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1433, "end_step": 1550, "id": "c910b7c3-85b0-4223-b29c-b0762b78c5c3"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1551, "end_step": 1630, "id": "c1e15815-4cbf-44a2-a7bf-0d2b176b838e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1732, "id": "70d0f9e7-2861-44fc-ba20-a1f225e76ec0"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1733, "end_step": 1818, "id": "06957d26-12a0-4f70-a109-85f8a0de79f0"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "goal", "start_step": 1819, "end_step": 2022, "id": "0c3e238e-9fa4-46a8-b678-637c338c52d3"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring from the right desktop to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00051", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 2023, "end_step": 2098, "id": "e03e18fa-8bd8-457a-bb22-bdb4dea3e2e9"}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00052", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2099, "end_step": 2238, "id": "d2ffc1bd-77aa-42fd-bc18-70e000c85bd3"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the rightmost front white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the top of the rightmost front white bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green cube down onto the rightmost front white bottle to fix it in place."}, {"label": "home", "start_step": 2287, "end_step": 2310, "id": "KEGibm1Ald_HKddxZplej"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white cylindrical part on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green cubic block from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green cubic block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod, pressing it down to fit properly."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple post by aligning and inserting it."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves downwards away from the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table with fingers closing around the object."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the black tabletop to establish a stable grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers around the white hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white ring placed on the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white ring from the right desktop to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00051", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00052", "text": "Left hand: grasp: Left hand adjusts fingers to press the left edge of the wooden base to keep it stable. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it above the rightmost front white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the hole of the green cube with the top of the rightmost front white bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green cube down onto the rightmost front white bottle to fix it in place."}], "episode_index": 57}
+{"source_uid": "5f4b95e92e22def9", "num_frames": 1910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: idle: Right hand stays empty at the right initial position with no significant displacement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "da2cc269-acbe-4518-a590-25aa1aa3936e"}, {"label": "valid", "start_step": 0, "end_step": 1884, "id": "dm-Kri0LNwt3btbB_IfNp"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves leftward and downward toward the front green hexagonal block on the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making small adjustments to fingers and wrist to establish grip contact."}, {"label": "goal", "start_step": 141, "end_step": 230, "id": "e519f8cd-7c46-46c5-a0a7-4b5522d27602"}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position it directly above the target vertical wooden peg on the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target wooden peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg of the wooden base, then opens fingers to release the block once it is supported by the peg."}, {"label": "goal", "start_step": 231, "end_step": 330, "id": "b83a6682-6be6-4854-abc7-5c26cff3ac17"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block placed on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block upward off the table surface and moves it toward the wooden peg base, holding the block securely."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "goal", "start_step": 331, "end_step": 436, "id": "559a4e47-1129-444f-adb7-19e7b04a1472"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block assembled on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white-capped green cylinder on the wooden pegboard, with fingers opening to separate from the cylinder."}, {"label": "goal", "start_step": 437, "end_step": 542, "id": "0fbeb26f-e50f-41e3-80e7-d93d13628e6b"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers closing around the nut and making slight adjustments to establish a grip."}, {"label": "goal", "start_step": 543, "end_step": 756, "id": "896b3a5b-c747-4ec8-9088-b861e4a7acd2"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the empty purple peg, adjusting its position while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple rod on the wooden assembly board, opening fingers to release the block once the block is stably supported by the rod."}, {"label": "goal", "start_step": 757, "end_step": 844, "id": "c0a9df7e-d5bb-409c-a2f1-cf2f84694fe7"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned on the table surface in front of the assembly board."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving the block completely away from the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward through the air to the position above the purple peg on the wooden assembly board."}, {"label": "goal", "start_step": 845, "end_step": 926, "id": "7c90a1c5-1412-43c4-9e15-423b866da9ce"}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple peg, fitting the nut downward onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, and releases contact with the nut."}, {"label": "goal", "start_step": 927, "end_step": 1012, "id": "48f8c231-5765-45eb-8e92-15a0be6382e3"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward empty from the wooden base area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the black table surface to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the green hexagonal nut and lifts it upward to fully separate it from the black table surface."}, {"label": "goal", "start_step": 1013, "end_step": 1104, "id": "4b746112-3849-4c73-9385-26465106e018"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the lifted green hexagonal nut and moves it to the position directly above the target vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand holds the green hexagonal nut, aligns its central hole with the target rod on the wooden base, and slides it down the rod until it rests on the existing green block below."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the assembled green hexagonal nut on the rod of the wooden base without any visible movement."}, {"label": "goal", "start_step": 1105, "end_step": 1180, "id": "f3b8cf12-d46f-4428-8bcb-0fddb8755526"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block firmly and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1181, "end_step": 1272, "id": "9e46748d-91a4-491a-a47f-a07fa9667386"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand moves the held white hexagonal block toward the wooden assembly rack, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the corresponding peg of the wooden assembly base and releases its grip to leave the block supported on the peg."}, {"label": "goal", "start_step": 1273, "end_step": 1346, "id": "f94a2a4d-2e87-41ee-b50a-d97b50347049"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers around the upper white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and transports it upward and leftward to the position above the empty mounting post on the wooden block rack."}, {"label": "goal", "start_step": 1347, "end_step": 1446, "id": "96d080c1-8369-4270-acde-cf1a9067ce7a"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden rack and lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the rack post without any visible movement of the hand or the block."}, {"label": "goal", "start_step": 1447, "end_step": 1524, "id": "b805f61f-e090-4eb8-85c0-58a2edf3ba5b"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward across the black table surface toward the small white hexagonal block resting next to the green hexagonal block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, with small visible adjustments of finger positions against the block surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 1525, "end_step": 1620, "id": "ea35239e-ce4a-482c-b119-8475d8ae6977"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the wooden rack."}, {"label": "goal", "start_step": 1621, "end_step": 1690, "id": "f13a51e6-98e9-4d21-ab2b-cc019982179b"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downwards toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the green cube on the table."}, {"label": "goal", "start_step": 1691, "end_step": 1838, "id": "e2d5479a-b477-4144-beae-6e70117fd5ba"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted green cube toward the purple rod on the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1837, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green cube fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cube, leaving the cube resting on the purple rod."}, {"label": "home", "start_step": 1885, "end_step": 1909, "id": "dPD0Ptju6y88fP7RVnxg6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: idle: Right hand stays empty at the right initial position with no significant displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves leftward and downward toward the front green hexagonal block on the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 68, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making small adjustments to fingers and wrist to establish grip contact."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position it directly above the target vertical wooden peg on the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target wooden peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg of the wooden base, then opens fingers to release the block once it is supported by the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block placed on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block upward off the table surface and moves it toward the wooden peg base, holding the block securely."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block assembled on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand releases the white-capped green cylinder on the wooden pegboard, with fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut on the black table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers closing around the nut and making slight adjustments to establish a grip."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the empty purple peg, adjusting its position while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand lowers the grasped white hexagonal block onto the purple rod on the wooden assembly board, opening fingers to release the block once the block is stably supported by the rod."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block positioned on the table surface in front of the assembly board."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving the block completely away from the table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward through the air to the position above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple peg, fitting the nut downward onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, and releases contact with the nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward and rightward empty from the wooden base area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the black table surface to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the green hexagonal nut and lifts it upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the lifted green hexagonal nut and moves it to the position directly above the target vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand holds the green hexagonal nut, aligns its central hole with the target rod on the wooden base, and slides it down the rod until it rests on the existing green block below."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the assembled green hexagonal nut on the rod of the wooden base without any visible movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate_release: Right hand positions the white hexagonal block onto the purple post on the wooden base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand holds the white hexagonal block firmly and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand moves the held white hexagonal block toward the wooden assembly rack, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the corresponding peg of the wooden assembly base and releases its grip to leave the block supported on the peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers around the upper white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand holds the white hexagonal block and transports it upward and leftward to the position above the empty mounting post on the wooden block rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden rack and lowers the block to fit it onto the post."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the rack post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves downward across the black table surface toward the small white hexagonal block resting next to the green hexagonal block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, with small visible adjustments of finger positions against the block surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block upward and toward the empty slot on the wooden component rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: reach: Right hand moves empty downwards toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the green cube on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: lift: Right hand lifts the grasped green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: transport: Right hand carries the lifted green cube toward the purple rod on the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 1762, "end_step": 1837, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: hold: Right hand holds the green cube fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without obvious movement. | Right hand: release: Right hand opens its fingers to release the green cube, leaving the cube resting on the purple rod."}], "episode_index": 58}
+{"source_uid": "11e12e0780ab8f0f", "num_frames": 2371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table, fingers gradually spread open from a gathered position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "4255e5db-6780-4344-8fef-1236bc590b7a"}, {"label": "valid", "start_step": 0, "end_step": 2343, "id": "HIlNPe09gjWlrzGGNnGwG"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table, fingers closing around the block."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 119, "end_step": 250, "id": "0f4b7dce-329e-4fc6-87d9-5dbdd44ee21f"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the upper position of the leftmost peg on the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost peg of the wooden rack, lowering it along the peg to fit into place."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden peg base."}, {"label": "goal", "start_step": 251, "end_step": 334, "id": "3939465a-f284-4796-bd2e-02223a8425ba"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 335, "end_step": 532, "id": "7acaa12f-bf28-4077-b2c3-16c375c19a50"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden board, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the left-front purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 533, "end_step": 612, "id": "61f47d61-11c8-4b61-976e-3152d1af3278"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal part on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal part on the table with continuous finger adjustments."}, {"label": "goal", "start_step": 613, "end_step": 748, "id": "0e57396a-de31-4324-8c3a-38a14c07c909"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the rightmost purple rod and fits it downwards onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top of the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle purple peg and releases its grip."}, {"label": "goal", "start_step": 749, "end_step": 962, "id": "006286f5-9753-43fa-a40f-a1cecbf5f8ff"}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table in front of the peg base."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it upward toward the right purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the right purple peg and releases its grip."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface beside the wooden base."}, {"label": "goal", "start_step": 963, "end_step": 1128, "id": "af1414a1-a70e-4720-ad40-a8b8af9e0c9f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple peg and slides it down onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "goal", "start_step": 1129, "end_step": 1228, "id": "93dc973f-4efe-4623-bea3-fabf3646f6e4"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table near the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1229, "end_step": 1334, "id": "5d25019f-6526-4601-b134-56f98f863651"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple peg by lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grasp."}, {"label": "goal", "start_step": 1335, "end_step": 1442, "id": "fe7160f2-1ebe-41ce-b2aa-a0625447438b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1443, "end_step": 1584, "id": "91cd082a-7ced-4e18-925a-794a6f119081"}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upwards off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and moves it downward to insert the part onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases its grip on the ring."}, {"label": "goal", "start_step": 1585, "end_step": 1662, "id": "6641c14f-73ca-42fb-8227-1bac70be66a9"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 1663, "end_step": 1818, "id": "9298b2a6-5ee9-4e42-8b1b-2f0af6cfb0e2"}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1819, "end_step": 1900, "id": "eb64432e-1e31-470b-9db9-33af4f924657"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "goal", "start_step": 1901, "end_step": 2064, "id": "a598d19a-9281-4eaa-98e1-994a3b9ee9db"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block leftward and upward to the area above the purple rod on the rightmost column of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole and adjusting the block's position on the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 2065, "end_step": 2156, "id": "cead2353-ba02-4490-a369-35bea04a591b"}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2157, "end_step": 2306, "id": "fa72f9d9-dd1a-49ed-9c06-ff66acbe42dc"}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the table surface and transports it to the position above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object with the rightmost bottle on the wooden board by aligning the hole and fitting it down onto the bottle."}, {"label": "home", "start_step": 2344, "end_step": 2370, "id": "MvmYxXgOiCh2DsxhVIYaM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table, fingers gradually spread open from a gathered position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal block on the table, fingers closing around the block."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the upper position of the leftmost peg on the wooden rack."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost peg of the wooden rack, lowering it along the peg to fit into place."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple peg of the wooden board, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the left-front purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal part on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal part on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the rightmost purple rod and fits it downwards onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top of the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the middle purple peg and releases its grip."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table in front of the peg base."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it upward toward the right purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the right purple peg and releases its grip."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface beside the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring upward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the rightmost purple peg and slides it down onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table near the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple peg by lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece upwards off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it leftward and upward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and moves it downward to insert the part onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple vertical rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block leftward and upward to the area above the purple rod on the rightmost column of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by inserting the rod into the block's hole and adjusting the block's position on the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the table surface and transports it to the position above the rightmost bottle on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object with the rightmost bottle on the wooden board by aligning the hole and fitting it down onto the bottle."}], "episode_index": 59}
+{"source_uid": "655d06b93d44f7c8", "num_frames": 2025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture and slightly opens fingers at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "d4e846c9-de9a-44d9-86ba-e4ae6262152b"}, {"label": "valid", "start_step": 0, "end_step": 2000, "id": "tm0QIxCbz7Gl53CSymdvN"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 270, "id": "87bc0773-a107-4689-969b-da54b4262c95"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the leftmost purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple vertical rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple vertical rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 271, "end_step": 358, "id": "95e6ad05-7038-4ce0-9a09-97e634776ff7"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to prepare for grasping the white hollow block on the tabletop."}, {"label": "goal", "start_step": 359, "end_step": 462, "id": "5b74cead-95ed-4ae3-8738-34f32922ab4b"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper position of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "goal", "start_step": 463, "end_step": 542, "id": "6cc39f2b-3614-4dce-be93-30b09e455483"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 543, "end_step": 704, "id": "30f21d5e-fc9b-45f5-833d-2d5c70f4298c"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop in front of the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 772, "id": "eda8c597-ef8a-44bb-a876-10837c9afd1d"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it toward the purple post on the wooden base."}, {"label": "goal", "start_step": 773, "end_step": 866, "id": "832068f3-6301-4c39-81dc-866d75270e08"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post on the wooden base by aligning the hole with the post."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 867, "end_step": 974, "id": "88d85fe3-28d7-4810-8bce-d3f83c387476"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green block on the black tabletop."}, {"label": "goal", "start_step": 975, "end_step": 1092, "id": "a97ea3d3-060d-4696-93a3-c58c8796c21d"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg on the wooden rack and inserts it downwards onto the peg."}, {"label": "goal", "start_step": 1093, "end_step": 1172, "id": "e8264926-b780-411c-8a2e-166f245e114c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the rod on the wooden base."}, {"label": "goal", "start_step": 1173, "end_step": 1260, "id": "bfb8f8f4-a45f-48b4-b59b-d413810f3135"}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 1261, "end_step": 1334, "id": "dfbdb4a5-aa6e-4d8b-8c49-cf8521dd8037"}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target rod on the wooden base."}, {"label": "goal", "start_step": 1335, "end_step": 1478, "id": "a0c9fb70-bfb3-44f1-be4e-00664474cf5d"}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1479, "end_step": 1554, "id": "c912dc0c-2bce-47b4-b0c0-470eea7cb01a"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagon ring on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagon ring on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1555, "end_step": 1712, "id": "66f5801d-3a00-41e1-a5a7-722dc7d3f0f8"}, {"label": "subtasks", "start_step": 1575, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: release: Right hand releases the white block with a purple rod placed on the wooden base."}, {"label": "goal", "start_step": 1713, "end_step": 1794, "id": "4bffc494-0fd8-453b-8f0e-a437c899e9bc"}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: grasp: Right hand grasps the green cubic block on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 1795, "end_step": 1958, "id": "a9b695b2-898a-4859-aeff-ce3ef78abe3e"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white bottle with purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: release: Right hand releases the green cubic block, leaving it placed on top of the white bottle."}, {"label": "home", "start_step": 2001, "end_step": 2024, "id": "qVLvNCBKvFaHc7b2mIhIB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture and slightly opens fingers at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the leftmost purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple vertical rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple vertical rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to prepare for grasping the white hollow block on the tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper position of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post on the wooden base by aligning the hole with the post."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green block on the black tabletop."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg on the wooden rack and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the rod on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the white hexagon ring on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagon ring on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: release: Right hand releases the white block with a purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: other:adjust_finger_pose: Left hand slightly extends its fingers while staying at the left side of the table, not contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: reach: Right hand moves downwards towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: grasp: Right hand grasps the green cubic block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white bottle with purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without contacting any operated object. | Right hand: release: Right hand releases the green cubic block, leaving it placed on top of the white bottle."}], "episode_index": 60}
+{"source_uid": "424706c161868243", "num_frames": 2318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand moves its fingers from the initial upward-pointing pose to a relaxed extended position while staying in the left area of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "goal", "start_step": 0, "end_step": 162, "id": "f922878d-95b0-47c0-b042-39eb4d22c897"}, {"label": "valid", "start_step": 0, "end_step": 2295, "id": "qXM1OwSLjJeqvB8nyYCBz"}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table surface, adjusting finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface, with no visible movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its gripper around the green hexagonal block resting on the black table surface adjacent to the wooden peg board to form a stable grip."}, {"label": "goal", "start_step": 163, "end_step": 272, "id": "7d880fc8-7e8b-470a-9783-639f01a6e9a1"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position the block directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg, forming the assembly connection."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg of the wooden board without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block mounted on the leftmost purple peg of the wooden block rack."}, {"label": "goal", "start_step": 273, "end_step": 358, "id": "b2880453-b17c-40da-bbfb-4f5581376133"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the purple peg and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand lowers the green hexagonal block to contact the black table surface, adjusting its position slightly to set it down."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 359, "end_step": 500, "id": "da24ce86-9df7-42bf-a68c-16a4d4415bfe"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns it with the leftmost purple peg, and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves downward to place the nut onto the purple peg of the wooden assembly, and opens fingers to release the nut once it is seated on the peg."}, {"label": "goal", "start_step": 501, "end_step": 590, "id": "5fd95dd2-cbc7-4106-9efd-c6c6916f62a4"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface below the wooden assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp_lift: Right hand closes fingers around the target white hexagonal nut on the table, adjusts finger positions to establish a stable grip, and lifts the nut upward off the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the table surface, and moves it upward to the position directly above the empty purple post on the wooden assembly block."}, {"label": "goal", "start_step": 591, "end_step": 718, "id": "6f2c62ee-4a24-4019-82bb-9937107d1f7b"}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple post, fits the nut onto the post, and slides it downward along the post."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden rack, opening fingers to release the block as the block rests stably on the rack."}, {"label": "goal", "start_step": 719, "end_step": 806, "id": "e0f375da-2700-463c-8385-7056fbc03973"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward away from the wooden rack to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to establish a hold on the block."}, {"label": "goal", "start_step": 807, "end_step": 928, "id": "2359b83d-df1e-47f2-8b30-84b8b7ec9bc2"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and toward the empty purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the target purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand moves downward to place the held white hexagonal block onto the purple peg on the wooden assembly base, until the block is fully supported by the peg."}, {"label": "goal", "start_step": 929, "end_step": 1012, "id": "90b4484a-2cde-4c78-a997-4eea61dfa01b"}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple peg, breaking contact with the block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1013, "end_step": 1144, "id": "f5504597-164c-43d9-af93-35a8e3387117"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand carries the green hexagonal block upward and toward the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts its finger positions around the green hexagonal block on the wooden assembly base to form a stable grasp."}, {"label": "goal", "start_step": 1145, "end_step": 1310, "id": "7e1b0a33-5d04-48df-a717-bc969d1719ed"}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward off its original seated position on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical post, fits the block onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and toward the wooden block assembly rack placed on the black table surface."}, {"label": "goal", "start_step": 1311, "end_step": 1468, "id": "a9f15d5c-d9d3-44a7-adab-3cc1b0c86f9d"}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the target rod on the wooden rack, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden block rack."}, {"label": "goal", "start_step": 1469, "end_step": 1548, "id": "aaf76cb2-c3bf-4831-b0a1-8f412f7febc2"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "goal", "start_step": 1549, "end_step": 1648, "id": "154c7da9-c8e4-4e4e-aed8-98251089cce4"}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hollow center of the white hexagonal block with the purple rod, and lowers the block to fit onto the top end of the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden peg base, breaking contact with the rod as the rod springs upward."}, {"label": "goal", "start_step": 1649, "end_step": 1898, "id": "ac248d95-efea-4fa7-8bcd-53771769278f"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty from the area near the wooden base toward the white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1710, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger positions around the nut as the nut tips over onto its side, and closes fingers to form a stable grasp on the nut while it remains on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_reorient: Right hand lifts the grasped white hexagonal nut slightly off the table surface, rotates the wrist about a quarter turn to adjust the nut's orientation so its hollow end faces upward, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily in the air above the table without visible movement of the hand, wrist, fingers or the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1899, "end_step": 2026, "id": "d41e3b84-5e18-4e51-9d8b-92e384c06607"}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, ending its grip on the block."}, {"label": "goal", "start_step": 2027, "end_step": 2110, "id": "0c6d299e-5776-477d-a4e9-8cb7a19bec2f"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves down and right toward the green cube placed on the dark table surface, remaining empty with slightly spread fingers as it approaches the cube."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers and adjusting contact points to form a grip on the cube."}, {"label": "goal", "start_step": 2111, "end_step": 2246, "id": "41c73286-cc47-455f-88ae-834c200b596f"}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward and left toward the bottle rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the white bottle and lowers it to fit onto the rod with small positional adjustments."}, {"label": "home", "start_step": 2296, "end_step": 2317, "id": "FX_VSltEdNFvGGsg2MB_R"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand moves its fingers from the initial upward-pointing pose to a relaxed extended position while staying in the left area of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward from its initial raised right-side position toward the green hexagonal nut on the black table surface in front of the wooden peg stand, holding fingers open as it moves."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table surface, adjusting finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface, with no visible movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its gripper around the green hexagonal block resting on the black table surface adjacent to the wooden peg board to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position the block directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg, forming the assembly connection."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg of the wooden board without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green hexagonal block mounted on the leftmost purple peg of the wooden block rack."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the purple peg and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand lowers the green hexagonal block to contact the black table surface, adjusting its position slightly to set it down."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns it with the leftmost purple peg, and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand holds a white hexagonal nut, moves downward to place the nut onto the purple peg of the wooden assembly, and opens fingers to release the nut once it is seated on the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface below the wooden assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp_lift: Right hand closes fingers around the target white hexagonal nut on the table, adjusts finger positions to establish a stable grip, and lifts the nut upward off the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the table surface, and moves it upward to the position directly above the empty purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the purple post, fits the nut onto the post, and slides it downward along the post."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden rack, opening fingers to release the block as the block rests stably on the rack."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward away from the wooden rack to approach the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to establish a hold on the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward and toward the empty purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the target purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple rod, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: place: Right hand moves downward to place the held white hexagonal block onto the purple peg on the wooden assembly base, until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block positioned on the purple peg, breaking contact with the block."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand carries the green hexagonal block upward and toward the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand adjusts its finger positions around the green hexagonal block on the wooden assembly base to form a stable grasp."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward off its original seated position on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple vertical post, fits the block onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and toward the wooden block assembly rack placed on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand holds the white hexagonal block, aligns its central hole with the target rod on the wooden rack, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden block rack."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, raising it completely off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hollow center of the white hexagonal block with the purple rod, and lowers the block to fit onto the top end of the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden peg base, breaking contact with the rod as the rod springs upward."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves empty from the area near the wooden base toward the white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1710, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger positions around the nut as the nut tips over onto its side, and closes fingers to form a stable grasp on the nut while it remains on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_reorient: Right hand lifts the grasped white hexagonal nut slightly off the table surface, rotates the wrist about a quarter turn to adjust the nut's orientation so its hollow end faces upward, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily in the air above the table without visible movement of the hand, wrist, fingers or the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: transport: Right hand holds the white hexagonal block, moving it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, ending its grip on the block."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: reach: Right hand moves down and right toward the green cube placed on the dark table surface, remaining empty with slightly spread fingers as it approaches the cube."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing fingers and adjusting contact points to form a grip on the cube."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward and left toward the bottle rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no contact to any objects and no observable movement. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the white bottle and lowers it to fit onto the rod with small positional adjustments."}], "episode_index": 61}
+{"source_uid": "66746eda13b5fbc3", "num_frames": 2188, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the green cube at the left front of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "a968c037-c448-4d53-8361-43b867dae49a"}, {"label": "valid", "start_step": 0, "end_step": 2163, "id": "8W_4QiHONDoDePBjYXGnE"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube at the left front of the wooden board, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube at the left front of the wooden board without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 119, "end_step": 234, "id": "4eae3b7e-7219-408a-a0c2-051651cf8a5c"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it to the upper left of the wooden peg board."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 235, "end_step": 294, "id": "3ec5dce7-75de-43ba-bdbe-392464b1e004"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 295, "end_step": 460, "id": "bcf00bfc-f015-4acc-a220-091d30a1fdaa"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the leftmost purple peg to secure it."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost purple peg, with fingers opening and moving slightly upward."}, {"label": "goal", "start_step": 461, "end_step": 554, "id": "54c13411-5c20-4bfc-99b9-8d2356401657"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 555, "end_step": 750, "id": "76932a08-5659-4da5-9d6d-59b9dc5e048c"}, {"label": "subtasks", "start_step": 585, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple rod by aligning the part's hole with the rod and lowering the part along the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 751, "end_step": 842, "id": "5de02965-5725-44b0-accc-1248f6b68fb6"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table in front of the peg board with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal part upward and leftward to mate it onto the middle purple post of the wooden rack."}, {"label": "goal", "start_step": 843, "end_step": 956, "id": "e2ef1513-f351-4c22-afe7-f07e0127631c"}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the middle purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg and releases the block."}, {"label": "goal", "start_step": 957, "end_step": 1022, "id": "093a499a-0023-4a47-95b5-4c129a3b7a97"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "goal", "start_step": 1023, "end_step": 1132, "id": "48762534-041a-485b-93e3-c40e71f8aedc"}, {"label": "subtasks", "start_step": 1035, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal ring upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the purple peg of the wooden rack, lowering and pressing it down into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, opening its fingers to separate from the ring on the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates a white hexagonal block onto a purple peg on the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 1133, "end_step": 1202, "id": "ff4410db-a92f-40c4-9271-6dfbb3f58d87"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1203, "end_step": 1336, "id": "2e5887b5-02c2-4d5d-b09c-f3a09387e7d0"}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and inserts it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost column of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1337, "end_step": 1406, "id": "f39d5338-c82f-47fb-b222-9263911bb032"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table to the right of the wooden rack, moving downward and rightward."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1407, "end_step": 1516, "id": "2cbe78f8-7f67-425f-80d9-ef8d3a02739e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, lowering the block to fit the rod through its central hole."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple rod of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1517, "end_step": 1598, "id": "b8c3446f-afa1-4d87-b461-362d78854c3a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1599, "end_step": 1714, "id": "add14044-fb1b-43b8-a2d9-554617f1e36a"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it leftward and upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and nests the ring onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated cylindrical piece on the front-right purple rod of the wooden tray, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1715, "end_step": 1790, "id": "7123a926-f235-4f2e-b42d-d2f1f0acaaaf"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block with a hole on the table, moving down and right from the wooden tray area."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block with a hole on the table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the right side of the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1791, "end_step": 2118, "id": "ecf45210-131b-47e4-b7cf-2cfdb64d8922"}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 1822, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block with the front-right white peg on the wooden base, adjusting position and lowering the block to fit its hole over the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the front-right peg of the wooden base without moving."}, {"label": "home", "start_step": 2164, "end_step": 2187, "id": "gEOJHNpdTVZPEb8X2Xtxu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the green cube at the left front of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube at the left front of the wooden board, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube at the left front of the wooden board without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it to the upper left of the wooden peg board."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg of the wooden board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the leftmost purple peg to secure it."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost purple peg, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple rod by aligning the part's hole with the rod and lowering the part along the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table in front of the peg board with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal part upward and leftward to mate it onto the middle purple post of the wooden rack."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the middle purple post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg and releases the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal ring upward and leftward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the purple peg of the wooden rack, lowering and pressing it down into place."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, opening its fingers to separate from the ring on the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates a white hexagonal block onto a purple peg on the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and inserts it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the rightmost column of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table to the right of the wooden rack, moving downward and rightward."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, lowering the block to fit the rod through its central hole."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the purple rod of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it leftward and upward to the top of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod and nests the ring onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated cylindrical piece on the front-right purple rod of the wooden tray, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block with a hole on the table, moving down and right from the wooden tray area."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block with a hole on the table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the right side of the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 1822, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block with the front-right white peg on the wooden base, adjusting position and lowering the block to fit its hole over the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the front-right peg of the wooden base without moving."}], "episode_index": 62}
+{"source_uid": "8656dc2356e53cc3", "num_frames": 2452, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty towards the green block near the wooden base of the block set on the table."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "04cabfb1-f3f8-4878-896a-4281bd5b4b31"}, {"label": "valid", "start_step": 0, "end_step": 2427, "id": "4ffNPLjUcxDD6yAzsNoQp"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green block on the table, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the top of the purple post on the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "b4fc3064-01ae-4d34-a444-469869b125d3"}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green block with the purple post by aligning the block's hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green block down along the purple post to fix it in position."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 273, "end_step": 402, "id": "2fcc44c8-1aae-48b5-a66b-755776391c1b"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it to the top of the leftmost purple peg on the wooden rack."}, {"label": "goal", "start_step": 403, "end_step": 502, "id": "874984ad-bba2-411a-9954-3f3502c4c20a"}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden rack by inserting it downward onto the peg."}, {"label": "goal", "start_step": 503, "end_step": 578, "id": "2022bc2e-9d8a-4e05-88e1-d8d496027353"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 579, "end_step": 744, "id": "5a1d76f6-9547-4775-a0d6-72a68bfcb91d"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts the nut onto the rod."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal nut down along the leftmost purple rod to the lower position."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 745, "end_step": 804, "id": "150c3f8e-ce8f-4fe0-bc73-5d7dafad0fe1"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white ring on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the table surface."}, {"label": "goal", "start_step": 805, "end_step": 914, "id": "a3b9098c-8ad4-40a3-b700-71fb74465983"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it above the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the target purple pillar on the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 915, "end_step": 980, "id": "eedf3d00-bd28-443c-b6bb-98735b9de066"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and moves it toward the purple post on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1084, "id": "7cdc6ea0-203e-4700-add7-320b1e3db6e5"}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns and inserts the green hexagonal block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1085, "end_step": 1162, "id": "77f55b94-ddfb-4e4b-b347-182a2fb53b50"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting for stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1163, "end_step": 1326, "id": "b824fe96-bca5-416a-98dd-50754c079b19"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it stably."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward from the rack."}, {"label": "goal", "start_step": 1327, "end_step": 1380, "id": "774487e9-5933-4ea9-b467-b2b9f68d6ffb"}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1381, "end_step": 1860, "id": "48c03f79-c613-4f64-b98c-0b6e764eb2c0"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple post."}, {"label": "subtasks", "start_step": 1492, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block slightly from the purple post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block back onto the purple post."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple post to secure it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1861, "end_step": 2014, "id": "c975e0b4-30d8-4549-965a-93faebe5acff"}, {"label": "subtasks", "start_step": 1912, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "goal", "start_step": 2015, "end_step": 2166, "id": "6352d004-bb4f-44fe-84a8-113fd474c93a"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white ring from its grip after assembly."}, {"label": "goal", "start_step": 2167, "end_step": 2248, "id": "8af2260e-e3a1-4163-9837-214ab48009b7"}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the lower right of the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table by closing fingers around it."}, {"label": "goal", "start_step": 2249, "end_step": 2374, "id": "7988935a-006e-40b3-af56-5524ec8363ef"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it above the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle and fits it onto the bottle properly."}, {"label": "home", "start_step": 2428, "end_step": 2451, "id": "ZVWZbsKU__byFRI5Tqrek"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty towards the green block near the wooden base of the block set on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green block on the table, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green block with the purple post by aligning the block's hole with the post and inserting it downwards."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green block down along the purple post to fix it in position."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it to the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden rack by inserting it downward onto the peg."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts the nut onto the rod."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal nut down along the leftmost purple rod to the lower position."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white ring on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and moves it above the target purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white ring onto the target purple pillar on the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block and moves it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns and inserts the green hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting for stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it stably."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward from the rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple post."}, {"label": "subtasks", "start_step": 1492, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block slightly from the purple post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white hexagonal block back onto the purple post."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple post to secure it."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white ring from its grip after assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the lower right of the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table by closing fingers around it."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it above the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green ring with the top of the target white bottle and fits it onto the bottle properly."}], "episode_index": 63}
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+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
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+                "right_little_fy",
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+}
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_14_31_42_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_28_14_31_42_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_14_31_42_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_06_28_14_31_42_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c402a0b4947750e5b305ff599be414421e2e1f75
--- /dev/null
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moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1978, "end_step": 2224, "id": "48b18501-e5a8-497a-a37b-eacf8b406315"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "goal", "start_step": 2225, "end_step": 2297, "id": "66921c71-f74e-4fa3-8664-fc60d90eec4d"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "goal", "start_step": 2298, "end_step": 2466, "id": "a4304520-0d21-4378-966e-536bf06f2ab1"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}, {"label": "home", "start_step": 2516, "end_step": 2543, "id": "9-VZ41MTJdfPESzfuUKWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}], "episode_index": 0}
+{"source_uid": "ded4c6296fd67704", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 178, "id": "66a7417c-e105-4b60-876d-715a94409981"}, {"label": "valid", "start_step": 0, "end_step": 2927, "id": "QKo1F1UebcJm1u8OcsLbI"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and 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1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1135, "end_step": 1269, "id": "af781703-feba-4732-9f66-7a1bf7c46c7f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the 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the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1537, "id": 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tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 2164, "end_step": 2240, "id": "438276bd-422a-4c41-8e2d-e0d9ee95bc4c"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2241, "end_step": 2420, "id": "9f5c6512-fdff-4860-bbd6-e0dbd716db88"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 2421, "end_step": 2486, "id": "a0c2c040-d7d5-4e46-96fb-3bcd0bd334c9"}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2487, "end_step": 2644, "id": "e9be358d-638c-489d-92a1-92b9616141ee"}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "goal", "start_step": 2645, "end_step": 2733, "id": "13b36e15-ba36-464b-9641-a0858cbeb2d7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2734, "end_step": 2891, "id": "1867f183-f5c5-4a67-88b6-ce24994e316e"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}, {"label": "home", "start_step": 2928, "end_step": 2955, "id": "MzYogtalYlJcRkeo36Ird"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left 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Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}], "episode_index": 1}
+{"source_uid": "cca582039532b8d6", "num_frames": 2266, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 151, "id": "acdb5e5b-a9f7-4436-8a95-bdfa2d7bc6fd"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "Ihe57_rLJ6K9jZYMOOOhJ"}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 152, "end_step": 320, "id": "e4ba8c2f-17c0-41c6-b176-91cb0e2630c4"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "goal", "start_step": 321, "end_step": 401, "id": "9555ac72-3eac-4d10-bb5f-21c0bc6470bb"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "goal", "start_step": 402, "end_step": 565, "id": "989c881c-f185-4fc9-928d-b6bcc3269b0f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "goal", "start_step": 566, "end_step": 664, "id": "da9106af-b49e-4a07-80ff-a45d72692933"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 665, "end_step": 907, "id": "2adcd9a2-90b5-48d5-a871-3ca7dec3eea8"}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "goal", "start_step": 908, "end_step": 983, "id": "2956bfd9-bfb6-44de-b53b-b378b85af6da"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "goal", "start_step": 984, "end_step": 1130, "id": "8267c26b-2f36-48f2-adc7-8edb310775c4"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1131, "end_step": 1201, "id": "9d404b37-c142-4fad-9cc9-1c1066123f44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1202, "end_step": 1375, "id": "014b1403-ccd6-4618-a1ad-2edc03b2278d"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "goal", "start_step": 1376, "end_step": 1445, "id": "6d679667-53eb-43c4-8ca8-ef04e45d2315"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 1446, "end_step": 1602, "id": "7a1dea3d-1785-4915-8277-cdbe9ee834f2"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "goal", "start_step": 1603, "end_step": 1671, "id": "7844121b-ee41-43af-b111-f7a421bbdeff"}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "goal", "start_step": 1672, "end_step": 1778, "id": "581759fe-9dbe-4838-aa01-35a386519a28"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1779, "end_step": 1845, "id": "6261953a-9b54-4d6f-8bda-184f0a94ae30"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "goal", "start_step": 1846, "end_step": 1996, "id": "9ff14d8b-716a-4bf8-b16c-296a4c6ca92f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "goal", "start_step": 1997, "end_step": 2062, "id": "0b574d7f-39a0-49ae-9a16-f757f1093708"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "goal", "start_step": 2063, "end_step": 2202, "id": "72256426-59d2-40e9-b481-7b153db510a4"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}, {"label": "home", "start_step": 2236, "end_step": 2265, "id": "3nhe3XnA_bnSMOK4FnXAz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}], "episode_index": 2}
+{"source_uid": "ea6170b4e69a72e1", "num_frames": 2552, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "920e1521-92d4-4193-b165-ecb4599a8603"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "Szj0y_m_5bOEE971vf2PI"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 295, "id": "dc764853-8e82-4e7c-968f-e4e6d51c03f0"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "goal", "start_step": 296, "end_step": 415, "id": "4867bc5d-cd55-4347-9228-dd1442aec95a"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 416, "end_step": 587, "id": "b85968bd-8ed5-4745-b987-9d15ad603385"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 588, "end_step": 669, "id": "9d4e044e-52e9-4877-bfd8-5c10a6e1fd57"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 670, "end_step": 839, "id": "668b2521-9ed2-4d33-9c61-5f0b8942a5ea"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 840, "end_step": 922, "id": "d8017aed-aca7-4837-9d95-b9b4901074d3"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 923, "end_step": 1153, "id": "7ec5d23c-ac78-4705-a2f2-8dfe5ccbd8c8"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "goal", "start_step": 1154, "end_step": 1237, "id": "475a0f3b-e6f3-4c48-94ae-dc029c199b1b"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "goal", "start_step": 1238, "end_step": 1359, "id": "057fea47-33a8-498f-90e1-b4b7553d6cab"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1360, "end_step": 1444, "id": "d547638e-9d1b-45cc-af00-d94b8a02ebb5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1445, "end_step": 1604, "id": "1bbc3b44-e972-430f-9a83-bf2369db961e"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "goal", "start_step": 1605, "end_step": 1679, "id": "290060f9-be34-4227-b204-23dceaa755be"}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1680, "end_step": 1829, "id": "edc32e3c-1111-4e80-b318-4760ff8c6478"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1830, "end_step": 1900, "id": "3226dcff-ff34-4211-9756-45c49ef58c9b"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1901, "end_step": 2026, "id": "76551511-062e-430d-a5b2-ba1914f91733"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "goal", "start_step": 2027, "end_step": 2090, "id": "2e73f6d9-007c-4062-80bf-655d3f15d141"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2454, "id": "cf87f5ca-4e29-4b37-9342-cd22a5894659"}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}, {"label": "home", "start_step": 2531, "end_step": 2551, "id": "HWxg7o5dGkXWmH_GwKJae"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}], "episode_index": 3}
+{"source_uid": "70c84f057faea2da", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "09520fb5-501d-4902-8658-1ec1fca1d8a1"}, {"label": "valid", "start_step": 0, "end_step": 2265, "id": "wZt9RFAhbY6umf_ffLoEj"}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 119, "end_step": 248, "id": "7874ce7a-f9a9-4ae5-b44c-925807b8064f"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 249, "end_step": 339, "id": "de0de7bc-5fc3-490d-a592-87a8b441e328"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 340, "end_step": 462, "id": "8824e510-f19e-408e-b362-d788a63f3e54"}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 463, "end_step": 562, "id": "99c4ef34-c65c-41b2-ab3c-e12f475ff04e"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 563, "end_step": 792, "id": "6ea8af2b-fb3f-4544-9dcb-00c54aa9ceec"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "goal", "start_step": 793, "end_step": 872, "id": "f488327a-4491-4522-9d07-e472cb471242"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "goal", "start_step": 873, "end_step": 1018, "id": "14ada7ed-dda9-413f-9aa8-bc39669631ae"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1019, "end_step": 1094, "id": "a76c3b7f-1113-469a-a5b1-37e9b525d2f2"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "goal", "start_step": 1095, "end_step": 1206, "id": "20a993aa-6ddc-4bf8-9ea5-a85dfb5e5c2c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1286, "id": "b6df6942-4341-4595-8d9e-14543ccc725c"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1287, "end_step": 1438, "id": "aaa5fd58-5651-4710-85f2-ea77aa935a01"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1439, "end_step": 1513, "id": "b6482b56-98c5-4419-a996-82c839b31217"}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1514, "end_step": 1616, "id": "27a5d9a3-8be9-489b-a9a9-f0c681e4229b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1617, "end_step": 1675, "id": "beceb354-f7a4-409b-90a9-1a933a1f0076"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "goal", "start_step": 1676, "end_step": 1805, "id": "38844713-a76e-490b-8690-d1ab766963c5"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1879, "id": "b1a3a3bf-9db9-48b3-865f-b5bc9bb33126"}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1880, "end_step": 2207, "id": "8b378863-c650-4b42-be50-89508bf6afac"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}, {"label": "home", "start_step": 2266, "end_step": 2292, "id": "HXY6fE0i_AE35sL-PGATt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}], "episode_index": 4}
+{"source_uid": "d60d15050a4f8004", "num_frames": 2182, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "bfe69d1b-7fd8-47c7-84e5-562ae9d6adf9"}, {"label": "valid", "start_step": 0, "end_step": 2157, "id": "Y26pOArayM3BxMn8JWwns"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "goal", "start_step": 161, "end_step": 312, "id": "505a8258-59f2-4f8f-a2d4-6d87f9ad5fa2"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "goal", "start_step": 313, "end_step": 400, "id": "221b6c43-cc97-459d-92b2-4680990072a3"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "goal", "start_step": 401, "end_step": 534, "id": "4fbe6009-b481-4aa2-8997-d84fe55f1703"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "goal", "start_step": 535, "end_step": 604, "id": "81134f36-198e-45d7-9ba4-8201dbf5fa1f"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "goal", "start_step": 605, "end_step": 808, "id": "eb7cda13-a8c9-46aa-86df-a9a1455bd497"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "goal", "start_step": 809, "end_step": 878, "id": "ba3085a5-7920-47d9-8caa-40e47ca1e872"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "goal", "start_step": 879, "end_step": 1030, "id": "638b90a2-b917-4494-8c77-b57a1d27812f"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "goal", "start_step": 1031, "end_step": 1100, "id": "21d525a1-ef80-4af2-9e94-4af149cff699"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "goal", "start_step": 1101, "end_step": 1246, "id": "83c6b094-d9e4-4fd2-a3a3-3dd5db596fb0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "goal", "start_step": 1247, "end_step": 1322, "id": "b1ac3748-bf34-4c98-8c24-31464394e079"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 1323, "end_step": 1444, "id": "39343787-7d9a-47f8-a6d4-02a94bad9b9f"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "goal", "start_step": 1445, "end_step": 1516, "id": "cd245fd9-094c-4ce0-a8cd-243ea90d3416"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 1517, "end_step": 1704, "id": "4b870bc4-a760-4022-b77b-0485c401bf08"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "goal", "start_step": 1705, "end_step": 1780, "id": "6e2c681c-ece1-4367-8f94-370514b104d9"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "goal", "start_step": 1781, "end_step": 1898, "id": "3f29ed66-7a79-48fd-beb8-c6dcbc9c8ede"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "goal", "start_step": 1899, "end_step": 1960, "id": "ba348628-b710-45a6-9319-03215e4736cb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "goal", "start_step": 1961, "end_step": 2130, "id": "66ce808b-8c53-45e1-9c5b-b8d0abf23978"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}, {"label": "home", "start_step": 2158, "end_step": 2181, "id": "am4LSp0ecn2K-xnVg3yAy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}], "episode_index": 5}
+{"source_uid": "068bddb7415693d6", "num_frames": 2303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "goal", "start_step": 0, "end_step": 188, "id": "c972918c-b56f-444f-bb76-90927e8c893a"}, {"label": "valid", "start_step": 0, "end_step": 2274, "id": "1vkPg-rbJE4TPHaQd84Kt"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 189, "end_step": 436, "id": "e0b07416-6ce2-44ab-8281-192e5ae769d6"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 437, "end_step": 512, "id": "4b0e4a64-3127-44af-8f13-45aeace3975d"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 513, "end_step": 668, "id": "9e61d80a-ea2c-42a5-bfca-bf806c6390e9"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 669, "end_step": 752, "id": "fb04f035-8620-41bc-afc3-179312fd9f65"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 753, "end_step": 878, "id": "d3592c79-3177-4352-8a79-5cd93b15e790"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 879, "end_step": 978, "id": "f0671562-2ae8-4a3b-9347-21c4b7c4c0b8"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 979, "end_step": 1080, "id": "cc4264e1-2f35-4c51-96c2-5a02bb4cbcbf"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "goal", "start_step": 1081, "end_step": 1148, "id": "7c7e7336-6765-42c8-9489-7c5dfe1ad665"}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "goal", "start_step": 1149, "end_step": 1296, "id": "98db18f8-738f-4223-8624-84d59f6f417c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1370, "id": "84345069-c20c-4a9a-b06f-15055e08efcb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "9a242000-272f-4632-89a8-e6343f1f025d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "goal", "start_step": 1515, "end_step": 1590, "id": "3edf5ec3-4c76-4370-b146-cd4ef871b9bc"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1718, "id": "53e0d0b6-f948-445f-8abc-474f9bcbe5d0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 1719, "end_step": 1780, "id": "876c6dc0-77b7-4ddb-9a0b-a09aa77d4c9e"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "goal", "start_step": 1781, "end_step": 1900, "id": "2f2cbf87-645c-466f-bf2c-a9ab2eec7377"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "goal", "start_step": 1901, "end_step": 2040, "id": "553cfae8-ad9d-40ae-967c-da6f93ca892e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2041, "end_step": 2210, "id": "0a9cb143-271c-438b-b341-c09cac147c16"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}, {"label": "home", "start_step": 2275, "end_step": 2302, "id": "ag9amdiQ1J8Rw1dWdKW9e"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}], "episode_index": 6}
+{"source_uid": "f3e90839fcc4cae2", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "87d5c9a3-df8b-49e2-8e04-377a94957ba1"}, {"label": "valid", "start_step": 0, "end_step": 1936, "id": "Klxcn-adG5v-kB_c_hNTH"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 113, "end_step": 230, "id": "d69c9178-35e2-456f-8bc6-e16cf6fdc552"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 231, "end_step": 282, "id": "470e4a19-0cf1-4d96-a4d5-116d57b3409a"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 283, "end_step": 380, "id": "d9c50ff7-f7d1-4284-b821-fa2dafe7f2db"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "goal", "start_step": 381, "end_step": 448, "id": "d333eeb4-0384-4f9c-ae1c-308bf3272832"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 449, "end_step": 594, "id": "7da90fb0-1159-4b53-8173-f72816391b27"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 662, "id": "6692e499-9b72-4fc2-b41d-1c08b8d9d002"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 663, "end_step": 798, "id": "bd52ca5c-e29b-4d84-b175-6fc913ab900a"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 799, "end_step": 864, "id": "2e8d5005-8783-486c-8300-02983355dcdc"}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 865, "end_step": 986, "id": "8addf7f0-11a7-4d30-9d7e-0f3932a4cd22"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "goal", "start_step": 987, "end_step": 1048, "id": "c731881c-858a-4704-9303-2c4b4824e53f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1049, "end_step": 1382, "id": "d949428f-8bf4-4d7d-ba80-92f955815a5a"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1383, "end_step": 1418, "id": "47fc9e65-0db7-44e4-8fcb-ff191ee6bf8c"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1419, "end_step": 1532, "id": "bc0e3994-2f71-4535-83a2-a38b98e657e4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 1533, "end_step": 1602, "id": "6f17a78d-c149-4128-acc8-c5c90e75eb43"}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1732, "id": "63b7fff1-cd08-426a-8720-a202eb49371a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "goal", "start_step": 1733, "end_step": 1788, "id": "c68f7525-980d-4aca-a47f-13c85c8b8cb8"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1906, "id": "d404e2d3-bc38-4b18-971d-615173a746ee"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}, {"label": "home", "start_step": 1937, "end_step": 1968, "id": "X5Q692MRPZMfbVW1YYxiv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}], "episode_index": 7}
+{"source_uid": "678d982095042918", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "6064e66d-9e8a-4ec5-8e48-344fdb5d36ff"}, {"label": "valid", "start_step": 0, "end_step": 2264, "id": "TiG_KerQb4MqOeyP8iyUf"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "e01f71c2-087f-42a9-afb6-eb4b8a3faa33"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "goal", "start_step": 235, "end_step": 304, "id": "01be88c4-4c0d-46b0-8f00-833104b09017"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 305, "end_step": 424, "id": "a97e1277-007b-42aa-97e8-f09f7c9ada8c"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "goal", "start_step": 425, "end_step": 592, "id": "827d90bb-c3c2-481c-b3c6-2a5643c3c783"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "goal", "start_step": 593, "end_step": 736, "id": "cf02d804-56b3-4e5a-aa98-91fe8132c581"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "goal", "start_step": 737, "end_step": 792, "id": "d887fe0b-a412-48d1-a049-00c1c288191e"}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "goal", "start_step": 793, "end_step": 1222, "id": "15d2ec0b-be71-4281-a045-84b3852c29fb"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "goal", "start_step": 1223, "end_step": 1284, "id": "50195215-2932-4c1c-8ea7-436375578e49"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1414, "id": "de298a53-164f-4cc7-84f8-f9f6c309378d"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "goal", "start_step": 1415, "end_step": 1540, "id": "c7a12d12-d867-4287-923c-85274c2929a0"}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "goal", "start_step": 1541, "end_step": 1680, "id": "ea5fa4ba-b22e-44c6-8ab8-97b3bc682f87"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "goal", "start_step": 1681, "end_step": 1750, "id": "30f8b718-798b-4920-ab14-85571562e226"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1864, "id": "9f5bee45-11fd-469d-9088-290ffa6c271d"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "goal", "start_step": 1865, "end_step": 1922, "id": "ee79a589-c1ad-473c-83ec-adde95fa4f9d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "goal", "start_step": 1923, "end_step": 2050, "id": "8323e24d-9081-4aaa-af21-2bee074cbd3c"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "goal", "start_step": 2051, "end_step": 2114, "id": "e4e7f4cc-86a3-445b-93ba-6d36b3f32bf1"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "goal", "start_step": 2115, "end_step": 2230, "id": "1c1f9e89-b8ca-48b3-ab8b-58d5ebc01748"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}, {"label": "home", "start_step": 2265, "end_step": 2292, "id": "5ut8_PAL3TUu9rhVzqnTg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}], "episode_index": 8}
+{"source_uid": "902bc458c9698a87", "num_frames": 2235, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "be1e0720-0d12-4206-9716-3e7168fc15e0"}, {"label": "valid", "start_step": 0, "end_step": 2205, "id": "mF5AJL1oT9MtVzY4WTGV5"}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 113, "end_step": 240, "id": "e69fc536-ad0a-4d30-81a3-13e13d9c4586"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 376, "id": "58600485-3676-44f2-9a3e-8c64bc73b80f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "goal", "start_step": 377, "end_step": 534, "id": "3205ef15-ced4-4d91-9590-c1e1b0a99e3d"}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 535, "end_step": 600, "id": "0b4ccbe2-9369-4c6f-b069-90189b0e07cf"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 601, "end_step": 772, "id": "73afbe5d-4c5d-4be5-9aa7-50e284bfaa6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 773, "end_step": 858, "id": "1bb166d0-880e-48c5-8dc6-44710a6b9856"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 859, "end_step": 976, "id": "119165fd-188b-454f-823a-01ec8256fb46"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "goal", "start_step": 977, "end_step": 1044, "id": "49302668-30cb-4038-9b3c-fd43e85c5bb9"}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "d9fb85b8-49ed-4ed1-9d49-c3d038a37385"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1264, "id": "84a5c189-c9d4-4ee4-bf3e-7202f52aace4"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1388, "id": "3a8d58e4-365c-49bd-9f99-30c45cd3335c"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "goal", "start_step": 1389, "end_step": 1468, "id": "1c6d7d60-9189-4933-9476-b42e6d94b021"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "goal", "start_step": 1469, "end_step": 1746, "id": "842af184-8452-4c42-b184-348b88d92cf8"}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "goal", "start_step": 1747, "end_step": 1816, "id": "ffe41342-3b20-4d4f-80fe-762611fe1f0b"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1817, "end_step": 1942, "id": "e83f3815-6bfc-4745-a579-ad799e7e4790"}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1943, "end_step": 2012, "id": "f97ee7bd-e5dd-4833-96c5-319e75669f9f"}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 2013, "end_step": 2162, "id": "cba7599b-396a-4b20-b78f-5708fb1d0536"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}, {"label": "home", "start_step": 2206, "end_step": 2234, "id": "0DPdNjQGhfYp69EoU9tbO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}], "episode_index": 9}
+{"source_uid": "8f7d577021d739a4", "num_frames": 1942, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "98640772-d61e-47d7-a12e-4c6729c56df7"}, {"label": "valid", "start_step": 0, "end_step": 1916, "id": "ahzoMCuXUxM2gjFo1rKrS"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 135, "end_step": 258, "id": "ef6b1e69-0f93-481d-8dfa-1e919a98b0b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 259, "end_step": 324, "id": "5b12b8ca-2136-462f-bb01-1ce78852a350"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 325, "end_step": 464, "id": "8c7e08a7-4d07-4998-abb6-92e19491dfec"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 465, "end_step": 528, "id": "5803c679-6c81-4018-9f95-25d8f7747bc2"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 529, "end_step": 646, "id": "255d0815-ccf4-4bbc-ac6a-1c71ce6ed2d5"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "goal", "start_step": 647, "end_step": 738, "id": "b06b0e87-01f4-4c43-8345-5516976cb227"}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 739, "end_step": 902, "id": "a584861e-99dd-4134-a33a-f8e53e5e511c"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "90ab0fc4-688c-4d62-bc6d-454298a05df1"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 975, "end_step": 1086, "id": "3c56eb2a-52f7-4e68-a8b8-9ac5a536916c"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "goal", "start_step": 1087, "end_step": 1144, "id": "bac77999-4eea-4bdf-8bf5-650d2ce82e44"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1145, "end_step": 1282, "id": "28ccf642-537b-4c3e-b08e-68a5e4945e1a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1283, "end_step": 1366, "id": "89316112-d266-462b-9039-dda050ee6cf6"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "goal", "start_step": 1367, "end_step": 1470, "id": "95cbf710-8fd6-4956-9b39-2ec4dc215beb"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "goal", "start_step": 1471, "end_step": 1556, "id": "1cb91cd7-1506-466c-87f0-024466375876"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1557, "end_step": 1690, "id": "2bab7432-d050-49c3-9187-7b8df1207fc6"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1691, "end_step": 1770, "id": "df63d338-afd8-4394-820f-d8787c585667"}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1874, "id": "52236148-8d91-4ef1-b78d-5b46092bb998"}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}, {"label": "home", "start_step": 1917, "end_step": 1941, "id": "8MxUwwO1eO34NC4rXK0G1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}], "episode_index": 10}
+{"source_uid": "eefd9323d36fc84e", "num_frames": 2070, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "18a5ddee-3d6b-4af5-82c7-1acdf001edda"}, {"label": "valid", "start_step": 0, "end_step": 2034, "id": "wVGzijfBhmc9qgI4RlRPW"}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "goal", "start_step": 109, "end_step": 272, "id": "e2704f44-f690-4b68-9300-bd213e6fb024"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "goal", "start_step": 273, "end_step": 328, "id": "8e901b33-be46-45db-894f-b0077ebe1e66"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "goal", "start_step": 329, "end_step": 496, "id": "eed91713-d3a0-4dda-a0c1-3d3e0cb71c4f"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "goal", "start_step": 497, "end_step": 558, "id": "c5f5a4f1-d0f3-4509-91c9-b5547a33086a"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 559, "end_step": 696, "id": "f5a69d8d-a0f0-44a8-a95e-846d61cba43f"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "goal", "start_step": 697, "end_step": 762, "id": "57ca6401-40f0-4b64-b794-6553d76bbfb6"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 886, "id": "8e323531-3a2c-4a4e-92b0-ab3f142d209f"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 887, "end_step": 938, "id": "0e06391d-bbe2-437e-bc85-f9942f63393c"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 939, "end_step": 1052, "id": "d6402ef0-8590-4101-9a2a-2c3c038aa28b"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "goal", "start_step": 1053, "end_step": 1194, "id": "becb67f6-a1cd-4717-8fc2-4b3f0e302f98"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1195, "end_step": 1338, "id": "5eeda75c-3267-462f-a36b-702440a3a414"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "goal", "start_step": 1339, "end_step": 1408, "id": "ef377df3-b942-40b7-94b5-b22f0e39bf85"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "goal", "start_step": 1409, "end_step": 1546, "id": "e7fd5ca7-1eea-4406-8932-1bce0bb7365d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 1547, "end_step": 1602, "id": "928ce6cb-6642-4f3f-aeb6-10938bf0a273"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "goal", "start_step": 1603, "end_step": 1748, "id": "2c36e989-3b2a-4b9a-8673-5cee8c33e8f4"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "goal", "start_step": 1749, "end_step": 1802, "id": "7c72f87a-a167-4ed2-b842-d8ddadc457bf"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 1803, "end_step": 2002, "id": "feb08c7b-ae34-478b-a897-f7ee85f93330"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}, {"label": "home", "start_step": 2035, "end_step": 2069, "id": "LZHduQ2l47e6_qPHCwW3a"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}], "episode_index": 11}
+{"source_uid": "a99e81f59b798961", "num_frames": 2101, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "c4d32597-3b6a-4808-8c92-68a8a49853b5"}, {"label": "valid", "start_step": 0, "end_step": 2075, "id": "I6lSL14v3W7OCT61C1PFx"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "goal", "start_step": 117, "end_step": 234, "id": "38ecd9b5-393b-4a84-981d-53689796ff63"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 235, "end_step": 380, "id": "c925e375-735a-4600-9472-866cc11586a6"}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "goal", "start_step": 381, "end_step": 502, "id": "d985cdfd-4591-4584-885d-c4c066c5bed7"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "goal", "start_step": 503, "end_step": 589, "id": "8091bcaa-e9c6-4d01-b771-ce1f32d47482"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 590, "end_step": 731, "id": "db52ca9d-6039-45b6-8ff2-6208c5bfe3c0"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "goal", "start_step": 732, "end_step": 810, "id": "dfb14392-dd81-43db-9529-264bb04a3c97"}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "goal", "start_step": 811, "end_step": 976, "id": "d9c86510-6b22-4943-bfba-30997375c6ac"}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "goal", "start_step": 977, "end_step": 1034, "id": "f1bab238-3443-4229-b1eb-206ba4881447"}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1035, "end_step": 1144, "id": "46f2c32c-f0bb-4dca-8db7-b759091bf78d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "goal", "start_step": 1145, "end_step": 1206, "id": "9a437f7b-16d0-4db0-a331-9fb6f38c2a5e"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "goal", "start_step": 1207, "end_step": 1326, "id": "8113ec26-6f2b-4907-b56b-99873ceed6fb"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 1327, "end_step": 1388, "id": "91f4211c-9bbc-4fc9-82b3-50e362c871cc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1389, "end_step": 1486, "id": "603bf164-518e-4fdb-940e-a88235fea963"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "goal", "start_step": 1487, "end_step": 1556, "id": "c068bd98-7b90-487f-b93d-e20a1e5e79fc"}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1676, "id": "c2f1116d-7254-4eb1-9ee2-e4e6cda08f41"}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1677, "end_step": 1786, "id": "6fd96cd2-57d0-461c-97e8-fc4298025d2e"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1998, "id": "ee541ae7-1141-4a57-97e7-ce869130833b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}, {"label": "home", "start_step": 2076, "end_step": 2100, "id": "KKR9woD3nfYd0O3N2S4BW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}], "episode_index": 12}
+{"source_uid": "e17b1c47813f23ec", "num_frames": 2545, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "3418e3d8-add4-49fa-b606-657bd9935764"}, {"label": "valid", "start_step": 0, "end_step": 2514, "id": "OAl50H_ZFGyoN9J8H6gN3"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 153, "end_step": 410, "id": "67f0ec28-d53d-4413-b600-875c8d364db0"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 411, "end_step": 562, "id": "ceb6b665-9035-4b78-abee-7ba7c1442219"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 563, "end_step": 670, "id": "282f7de0-8cd7-4350-96f6-07e1e3588e57"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "goal", "start_step": 671, "end_step": 860, "id": "705b117e-8991-47d9-afcc-a0a3a8b10892"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 861, "end_step": 990, "id": "30cc8dfb-5898-420e-a8e9-4550be32263a"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1056, "id": "7b137b6b-06b6-4749-a208-4cf22ee30868"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 1057, "end_step": 1190, "id": "b08797aa-802c-4ed1-93f2-1d19fd5c81d9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1191, "end_step": 1262, "id": "f9b26589-f925-413f-9f1c-11322bd2c76c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1263, "end_step": 1416, "id": "de8f0382-304c-403e-a03c-60848974a9e9"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1417, "end_step": 1472, "id": "2894e0f8-0d71-4c7a-85d5-d3f04004d619"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1473, "end_step": 1810, "id": "ebee2a3e-12b9-4cc8-98d4-5507dc925fe2"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 1811, "end_step": 1928, "id": "5f4edd5c-7997-487d-8b9a-d3372edb174f"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2062, "id": "d6734d99-2954-426c-b5b5-21d360ad8924"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "goal", "start_step": 2063, "end_step": 2140, "id": "337c7105-dd6f-49e9-a7f9-15be080f7411"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2141, "end_step": 2250, "id": "6e923a09-3ba5-460a-9840-ca4ef704f901"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "goal", "start_step": 2251, "end_step": 2322, "id": "862b9c16-256f-409a-8f42-3c088082c6b0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "goal", "start_step": 2323, "end_step": 2478, "id": "f8bfe83b-a109-4e56-ace7-27756f873292"}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}, {"label": "home", "start_step": 2515, "end_step": 2544, "id": "3rEPPNpGqre2OZtHAyuvA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}], "episode_index": 13}
+{"source_uid": "c225bf0d2c37c072", "num_frames": 1815, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 100, "id": "f0c855d0-0775-48b3-9db0-eb9a921c8b14"}, {"label": "valid", "start_step": 0, "end_step": 1789, "id": "7Oq6a2sO9OdeRlbcA65lk"}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 101, "end_step": 232, "id": "5c4f64f8-bf70-4fae-b27a-03b3e1594cf4"}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "goal", "start_step": 233, "end_step": 288, "id": "0780092e-2166-41f7-a8e0-7bd56475b0fa"}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 289, "end_step": 422, "id": "71a5ddc3-90d8-4094-b4f7-c36514ae31f4"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 423, "end_step": 470, "id": "e60bef70-7abd-4f95-ba3f-1317fcf21211"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "goal", "start_step": 471, "end_step": 604, "id": "6577f6aa-f2f5-4911-a9f7-7a23d838927f"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 605, "end_step": 660, "id": "fcfcde04-b4fa-4181-aaa7-2d888c3c0f6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "goal", "start_step": 661, "end_step": 830, "id": "c8bfc0c5-f97d-4d7e-a9eb-8ecab6118565"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 831, "end_step": 884, "id": "954e32dd-9562-40e7-a2d9-0ef8163f47fd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 885, "end_step": 1026, "id": "8101c582-c6c2-4420-8e70-ed60b535bd82"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1027, "end_step": 1080, "id": "747fe9bf-6a3b-4aa0-a0f3-0ed1c595e68c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1081, "end_step": 1190, "id": "fd07c187-7db0-474c-9c96-079b0f50594f"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "goal", "start_step": 1191, "end_step": 1254, "id": "8a295e32-efe2-400f-ad04-5b911d7cf6db"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1255, "end_step": 1370, "id": "da89d9d2-c84a-4d4b-93d9-fa5fcc2a76b8"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "goal", "start_step": 1371, "end_step": 1418, "id": "f78f800c-97a4-48c8-a7b4-4883157f9cba"}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "goal", "start_step": 1419, "end_step": 1522, "id": "b5ab06d5-ba64-4757-af8b-842b25e3e9f0"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "goal", "start_step": 1523, "end_step": 1586, "id": "078e03db-f6b9-496b-bfe9-c596141ca168"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1587, "end_step": 1724, "id": "af326aaa-ebce-4e79-98d3-4b647c742266"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}, {"label": "home", "start_step": 1790, "end_step": 1814, "id": "9wN0pf4u-P40m6WcF8UHy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}], "episode_index": 14}
+{"source_uid": "e4354a1737252aee", "num_frames": 1932, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "bfd0accf-0645-4317-970f-8d7bebdecbd9"}, {"label": "valid", "start_step": 0, "end_step": 1899, "id": "TRq6C9f6HSmuuGgr20gUD"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "c8a98558-456f-4fb7-92fa-f62baa20daa4"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 235, "end_step": 306, "id": "46a6d2b4-8b86-42c3-9cb8-268341d704b3"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "goal", "start_step": 307, "end_step": 462, "id": "8df3dee5-d6e5-40b2-933a-1b4ad5352862"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "17317d18-3447-4b77-9fe5-61e171460ba5"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 539, "end_step": 648, "id": "d72c2910-1234-46a4-af04-6899a676d99d"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "goal", "start_step": 649, "end_step": 716, "id": "426f82cb-f97f-4987-aa6e-abc2bc98d5c1"}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 717, "end_step": 916, "id": "dfa7a492-fb18-4c38-966e-41937a7f3b18"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "2f015f11-39d9-46ea-990b-fb46c3df4cd8"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "goal", "start_step": 987, "end_step": 1132, "id": "53a0c5f1-b685-42b2-bfb6-2acfda68dfc7"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1133, "end_step": 1184, "id": "bf00d614-4e7d-45c9-b398-2f2d01e46ed7"}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1185, "end_step": 1294, "id": "ee545787-ce6e-44e1-b15f-cdb9e7ab32ec"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "goal", "start_step": 1295, "end_step": 1354, "id": "ddc49047-e84f-4699-9a52-4158eded5d29"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1355, "end_step": 1484, "id": "75faff01-9b7e-4c82-a14b-a2023324b4e0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1485, "end_step": 1556, "id": "cb84ffb4-4976-4a27-b1b3-9504824538e0"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1670, "id": "57ed1b71-c52e-4906-9a5a-29a2e2f03242"}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "goal", "start_step": 1671, "end_step": 1736, "id": "abfc4a57-7a6d-42f0-b4c6-a59657e3a7ae"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "goal", "start_step": 1737, "end_step": 1856, "id": "ee619492-bb19-4767-8c4c-e13017623d32"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}, {"label": "home", "start_step": 1900, "end_step": 1931, "id": "yB0E6iRyIcR-uRrv62F8W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}], "episode_index": 15}
+{"source_uid": "4292adaba504158c", "num_frames": 2963, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "1b039b2e-faca-4503-a13b-46ac0ff71204"}, {"label": "valid", "start_step": 0, "end_step": 2932, "id": "Qgy-zkYScKUtVBUsTqzAU"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "goal", "start_step": 131, "end_step": 282, "id": "6ef4eef4-9eb1-4005-b617-6fdd1ee5ecd0"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "goal", "start_step": 283, "end_step": 364, "id": "1ee6739f-b83e-462b-81aa-8436ef943b72"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal 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the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "goal", "start_step": 505, "end_step": 564, "id": "61536499-f80a-42ad-900a-bf3b04f41ac9"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "goal", "start_step": 565, "end_step": 704, "id": "5c4356c5-b509-4672-b2f9-8e8d892b3775"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 1086, "id": "8033057e-b29c-4741-8a98-13d8a1f43bab"}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "goal", "start_step": 1087, "end_step": 1230, "id": "0418c86d-99ed-46d5-9382-10dcb93e4701"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "goal", "start_step": 1231, "end_step": 1294, "id": "fccd1ef9-8b99-4763-b878-44f6cc1a35e3"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1295, "end_step": 1424, "id": "7e80f14c-d98d-4543-acba-33457c235c35"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "goal", "start_step": 1425, "end_step": 1494, "id": "f1f8f5c2-b022-4ebe-b7d0-903d5be1aefb"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "goal", "start_step": 1495, "end_step": 1628, "id": "e43bbd6c-1a07-43c1-b22a-abc5dfbbdf1f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "goal", "start_step": 1629, "end_step": 1702, "id": "bc5b67bd-c695-4a77-8e2b-580af8eb89f7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1703, "end_step": 1866, "id": "03dcf17b-e99a-49bc-8bf6-32a021957304"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "goal", "start_step": 1867, "end_step": 1930, "id": "e9652ccd-62f4-4c06-8e7a-2140e9e7bee6"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 1931, "end_step": 2056, "id": "ff05c3ab-f66c-450c-b44d-d351599087ea"}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "goal", "start_step": 2057, "end_step": 2114, "id": "6005ed19-03d7-4ff6-8792-611a674f5798"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2922, "id": "db72eeb0-b39a-4c42-9c0b-89ad1c1fc39b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}, {"label": "goal", "start_step": 2923, "end_step": 2924, "id": "cfe0becd-a6d9-45f1-b8d8-25a8b17c660c"}, {"label": "home", "start_step": 2933, "end_step": 2962, "id": "U5EMLS9RG5WKgcFzj618A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}], "episode_index": 16}
+{"source_uid": "fc66befb47b45a2c", "num_frames": 1971, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "985185f6-b872-4cc8-b19d-88f761a34ed6"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QH1YyB6eMy9rlg0ML0M8C"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "goal", "start_step": 121, "end_step": 220, "id": "9d3c1088-7d5b-4510-adf6-46ef46772c98"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "goal", "start_step": 221, "end_step": 282, "id": "3d403445-1c0b-4ff5-85fe-6a8f1168828c"}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "goal", "start_step": 283, "end_step": 486, "id": "3e2165d4-fa23-4dc9-84b9-12198a527fd1"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 487, "end_step": 562, "id": "185cc538-28a5-4a95-8c63-7b445ef8d7a8"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 563, "end_step": 716, "id": "5d11f3e8-1a23-40e8-956a-417d70cafce3"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 717, "end_step": 772, "id": "93e86424-080a-4ad0-b09e-88f3218d31cd"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 773, "end_step": 906, "id": "fa17989e-8a83-43e8-ad7e-053d028f3560"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 907, "end_step": 964, "id": "1a95822a-8702-4d0f-8aa4-d52a4b87385c"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 965, "end_step": 1070, "id": "719be375-ad19-4abe-bb85-6ee6b3b69bf3"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1071, "end_step": 1158, "id": "942035c4-13ec-4ad5-9bae-1ecb68363c54"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1360, "id": "ffb21f7a-63ff-4e17-9d2d-c2bc89739278"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "goal", "start_step": 1361, "end_step": 1410, "id": "850665c3-d5d7-4fb7-befe-2699c9f16c2f"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1516, "id": "9d7bafa1-8b52-4b94-8e0c-5a325fb608c6"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "goal", "start_step": 1517, "end_step": 1574, "id": "c8655ffb-6d42-4f17-8e39-6d22b777bb6a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1575, "end_step": 1700, "id": "566a8033-38b3-4ec6-b2d6-72d148f3105e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "goal", "start_step": 1701, "end_step": 1742, "id": "3b873d0d-2b86-4ce9-8b78-31b4a7bddd65"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1743, "end_step": 1896, "id": "73a00855-d0bb-4fb1-a264-8e91ebb91f17"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}, {"label": "home", "start_step": 1944, "end_step": 1970, "id": "_P6MvtpuGgEpfFKofWf8v"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}], "episode_index": 17}
+{"source_uid": "4f317db5c3f3871b", "num_frames": 2609, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "61843f4c-e9f9-4bda-86bd-15e67fbfa9eb"}, {"label": "valid", "start_step": 0, "end_step": 2583, "id": "hI2A03IkdywYgg5t7bVMl"}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 113, "end_step": 266, "id": "4b24868d-025e-41fc-a27d-fea218be9482"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "goal", "start_step": 267, "end_step": 340, "id": "2d92f3d6-f2dd-46c8-af03-7abc81481c50"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 341, "end_step": 516, "id": "cc866429-b113-4b63-b76f-d69ecf8c975f"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 517, "end_step": 596, "id": "748e8056-890f-4c4a-b448-5f0cd9aac7b1"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 597, "end_step": 760, "id": "cd51c723-3ea7-453f-9ca0-4f5a0bdc32e5"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "goal", "start_step": 761, "end_step": 832, "id": "2a3311d1-c5a8-4b4a-a902-d9c5753174d1"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 833, "end_step": 970, "id": "f3d6b314-946a-4a11-9fd2-9f722580a96a"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 971, "end_step": 1020, "id": "a2262fbe-8b97-4d2d-97fc-5ed1539639e7"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1132, "id": "b8d30e1a-5d8f-4b7c-99dd-708f27b6a25b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "goal", "start_step": 1133, "end_step": 1194, "id": "d39767fb-a88c-42b1-b444-ca4379b8075c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1318, "id": "4942dc8f-4bc4-4579-ab40-4f4aa1184ab8"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1319, "end_step": 1386, "id": "aa99e762-865c-42be-bd4e-d51392b49984"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1387, "end_step": 1492, "id": "a082604c-f167-4eb9-9a46-d3f8becae815"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1493, "end_step": 2056, "id": "42dd5748-3a20-4065-a389-642277e00327"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "goal", "start_step": 2057, "end_step": 2342, "id": "314488ea-6dd3-4539-8797-e58f450ea6e9"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "goal", "start_step": 2343, "end_step": 2430, "id": "250675a3-abb3-45bf-9a72-f23a28f92f36"}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "goal", "start_step": 2431, "end_step": 2556, "id": "58f9c367-6274-40f8-81c6-75a2c786fe47"}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}, {"label": "home", "start_step": 2584, "end_step": 2608, "id": "v1pUQs4jlLUuCzhUUjQCe"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}], "episode_index": 18}
+{"source_uid": "6f4dcfbc6e979c76", "num_frames": 2033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "cca9937c-82fd-41d1-8de9-8da614c67b0e"}, {"label": "valid", "start_step": 0, "end_step": 1998, "id": "0f-HOKC9IGYLM7CA5AE58"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 109, "end_step": 226, "id": "4867fdfd-acc2-4ed7-bbbe-2bd3a05ffc0a"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 227, "end_step": 312, "id": "c24c1952-4fcf-4a9b-bab5-5bf9bcc2c955"}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 313, "end_step": 424, "id": "b37e9b6e-bcc4-4707-8775-4e1486cc49d9"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 425, "end_step": 490, "id": "41fb33c6-eada-4ad3-9b1b-4ee9182b949f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 491, "end_step": 756, "id": "75f9c915-9517-455b-8695-83504a9e1d67"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "goal", "start_step": 757, "end_step": 802, "id": "9f594896-3686-4346-af86-43ec058c60d2"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 900, "id": "b7a60197-6eee-4dd4-860c-22e10761c034"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "2c26d6ca-8afa-4026-9c5d-6d1de31a3a29"}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "goal", "start_step": 971, "end_step": 1092, "id": "8b94aa0f-0cbc-4dd3-a7dc-f43a204a879e"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "goal", "start_step": 1093, "end_step": 1140, "id": "b48e0aba-5206-433f-93af-4650de8a5772"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1141, "end_step": 1252, "id": "c1c49bc4-cc0f-46ad-a094-ec876b8e5e68"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "goal", "start_step": 1253, "end_step": 1312, "id": "701b1454-c7a2-40af-ba43-a04e8dc113cb"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1313, "end_step": 1412, "id": "5472cb55-e0c9-4691-952e-0fd02eb6ad91"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1466, "id": "b482772a-5932-4634-909a-c33f283c4abd"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1467, "end_step": 1678, "id": "d4a20b7e-6929-4952-9560-8d99c5f5a80c"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "goal", "start_step": 1679, "end_step": 1744, "id": "5ffb8d1f-7f75-46be-893c-87264e6855b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "goal", "start_step": 1745, "end_step": 1964, "id": "f05ba2bd-0a6d-4858-bb81-50eda8629aa1"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}, {"label": "home", "start_step": 1999, "end_step": 2032, "id": "aRkOQGE5ytO_W0W6kHy2l"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}], "episode_index": 19}
+{"source_uid": "469e9a3dd61d6228", "num_frames": 2292, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "a3e22b0e-cb61-416a-9beb-88428957c58d"}, {"label": "valid", "start_step": 0, "end_step": 2266, "id": "XK1_IPsGTaP6g-zkNxgmC"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "goal", "start_step": 137, "end_step": 260, "id": "93b23723-9f29-400a-ab07-8548b5447d90"}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "goal", "start_step": 261, "end_step": 468, "id": "1222e61d-c941-41ea-870a-5e10bbb4462f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "goal", "start_step": 469, "end_step": 792, "id": "df3b8f54-6026-4be6-8add-fa9fb99ed897"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "goal", "start_step": 793, "end_step": 854, "id": "06570b99-4b9f-4242-9b15-7ddc1fffe13f"}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 855, "end_step": 1018, "id": "85196f69-d372-4b72-9d46-eb03f486c46b"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "goal", "start_step": 1019, "end_step": 1086, "id": "7e41cf92-1200-437f-9c04-a09ec4fe0130"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "goal", "start_step": 1087, "end_step": 1210, "id": "e78a0177-03c3-45b5-aae4-7306b19008e6"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "goal", "start_step": 1211, "end_step": 1280, "id": "0d931625-04af-40f6-a184-6720e30bed38"}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1281, "end_step": 1406, "id": "96045b20-e6d1-4e28-95b0-7e65065c5f2f"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "goal", "start_step": 1407, "end_step": 1480, "id": "cb81db0e-b6b6-48d6-8fbe-08e60eca19b1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "goal", "start_step": 1481, "end_step": 1598, "id": "ddb94c65-c9b1-45f1-a413-7edeae8f659b"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "goal", "start_step": 1599, "end_step": 1700, "id": "f762194f-c8fd-4eb6-8f3e-2f1c7d265be5"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1701, "end_step": 1818, "id": "198215d4-f737-4360-8990-3237a912cd49"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "goal", "start_step": 1819, "end_step": 1888, "id": "15d2ff92-e54b-4862-8771-3a94458a172b"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 1889, "end_step": 2040, "id": "61e69085-9375-44f5-952c-d3f498006f0b"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2106, "id": "89d9c8ea-1837-4a25-84e5-911e10b8383d"}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "goal", "start_step": 2107, "end_step": 2226, "id": "bf649c8e-65df-47fd-b5e7-69798a97fc2a"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}, {"label": "home", "start_step": 2267, "end_step": 2291, "id": "_7ApxkwjKID-cTyoybZ_J"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}], "episode_index": 20}
+{"source_uid": "a9b9fd4680a65d27", "num_frames": 1757, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "9b55c267-8d9e-4b6d-ba6a-d90e4813a25e"}, {"label": "valid", "start_step": 0, "end_step": 1729, "id": "vCcpSJEFrfhy8rVQrvZo8"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 147, "end_step": 262, "id": "86035d0f-cb73-4426-bece-e8c52d3bfbb0"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "goal", "start_step": 263, "end_step": 348, "id": "af59be67-dcf5-4a7f-bb49-18009534776c"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "goal", "start_step": 349, "end_step": 460, "id": "8cfddc79-b7e3-457d-b3ba-65d9d04ad23e"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 461, "end_step": 518, "id": "dcf3c970-a6eb-47b2-8d19-5f20caf9f037"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "goal", "start_step": 519, "end_step": 632, "id": "9ff3166b-ae28-4b7d-80ed-fd15efe2c401"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "goal", "start_step": 633, "end_step": 706, "id": "0414c211-c85b-4107-85c0-bcc8b7ac83fa"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 707, "end_step": 850, "id": "8de7f656-55db-463b-a574-cbfd9bf6fc04"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 904, "id": "c3f68376-2a4e-41a1-ab7b-caa1a39ab0dc"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 905, "end_step": 1000, "id": "433758c0-5447-4dc3-aa3a-878f60614baa"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "goal", "start_step": 1001, "end_step": 1092, "id": "321bbf43-5615-4d76-86a4-57cb05540025"}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "goal", "start_step": 1093, "end_step": 1194, "id": "0fedf178-0727-4cb1-af37-1cf107db5a36"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1195, "end_step": 1260, "id": "195936b8-f81b-41ba-b14e-e168e3adfbd5"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "goal", "start_step": 1261, "end_step": 1344, "id": "5c8b68da-9809-4d09-9012-8d55fa638982"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "goal", "start_step": 1345, "end_step": 1410, "id": "653efcea-8d9e-4ea9-9f4b-7defe79322f3"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1540, "id": "28c10c9d-950f-4d57-b0f9-acd0bad82df7"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "goal", "start_step": 1541, "end_step": 1590, "id": "32d382e8-e6eb-4d54-afd3-ca8e1e3f1d4e"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1696, "id": "963ac31b-06c3-4ce1-8de7-8275a42e4316"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}, {"label": "home", "start_step": 1730, "end_step": 1756, "id": "_7mg_lBoUN7bYmNbRkioZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}], "episode_index": 21}
+{"source_uid": "141c1a9d788c8e61", "num_frames": 1939, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "11155cd0-43f7-440b-9109-5a3e874c0943"}, {"label": "valid", "start_step": 0, "end_step": 1912, "id": "9E_aawtHtUKTdvkRWByGK"}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "7c09e676-c2ae-40fb-916d-c573d83a4b0e"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 235, "end_step": 348, "id": "6c5f3ed9-f575-4a3b-8227-a9eff62a4eda"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 349, "end_step": 464, "id": "694edf89-5849-447a-b665-a524f3b96f64"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "goal", "start_step": 465, "end_step": 558, "id": "70dc6c8d-4aa6-4d3f-a932-f7e2b8b6a8a3"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 559, "end_step": 680, "id": "3b6c87c6-6435-4080-bab8-4a92ca2bd599"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 681, "end_step": 744, "id": "37b3b877-3952-4ae5-a89d-e17f3cc1c17d"}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 745, "end_step": 852, "id": "e6f243a6-f166-482b-841c-57b52fbe8a07"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 853, "end_step": 896, "id": "e9acfbc1-7158-45eb-9a44-795f39164ff8"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "goal", "start_step": 897, "end_step": 1056, "id": "8ad65530-d9ab-4fc2-a836-94f9505bfdef"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1057, "end_step": 1114, "id": "06c404ac-02bb-41e6-a6b1-24a709531e6a"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "goal", "start_step": 1115, "end_step": 1306, "id": "4a3ff4d5-d341-4ff4-9533-14378a70f8d7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1307, "end_step": 1358, "id": "887a0672-0769-464e-b852-8617579c4eda"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1359, "end_step": 1492, "id": "c1ba7447-e0f9-4975-babf-03515709be02"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1493, "end_step": 1556, "id": "95373def-71f2-4d72-83a5-0aaa90aa981f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1557, "end_step": 1696, "id": "8448c4dd-2b08-4895-81d1-e8324cb0eb8f"}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "goal", "start_step": 1697, "end_step": 1748, "id": "bfa376d8-f080-4a38-8da3-b96b2dccc0cd"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "goal", "start_step": 1749, "end_step": 1868, "id": "a5e1ae10-59e6-4f1d-bf78-57ab39082891"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}, {"label": "home", "start_step": 1913, "end_step": 1938, "id": "LGM3BKm4eMNwcC4UTyxJv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}], "episode_index": 22}
+{"source_uid": "515f12b1853a7bd8", "num_frames": 2474, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "392eea6c-3004-4a34-bed5-7b70f266898b"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "OC5yl0xC-HGKcxJRQbCyP"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "goal", "start_step": 123, "end_step": 246, "id": "fc4da57b-6824-47eb-af5d-ebf9864ae2fb"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "goal", "start_step": 247, "end_step": 316, "id": "30b3e0f0-a933-4b8a-b837-5805744fb7f9"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 317, "end_step": 558, "id": "bffb1bcd-5b56-411a-8edc-337d819144a3"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "goal", "start_step": 559, "end_step": 636, "id": "02a54f35-748a-4a7d-aa1e-1835d891418d"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "goal", "start_step": 637, "end_step": 768, "id": "3c8ba00f-9b09-4c09-8a47-5f3b7b1f7e30"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "goal", "start_step": 769, "end_step": 846, "id": "01322a23-5f66-4de4-8cb8-05561f687a9a"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "goal", "start_step": 847, "end_step": 948, "id": "0ea62248-c021-40af-be0b-7bf10a8d6e4b"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "goal", "start_step": 949, "end_step": 1028, "id": "8b94725f-35b9-4395-8778-7bcdbac267b8"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "goal", "start_step": 1029, "end_step": 1150, "id": "bdc3359b-eaea-4ad7-aa6e-48a3fd035181"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1151, "end_step": 1284, "id": "15a8513e-158d-4e6b-965f-d8b68f691669"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1444, "id": "f24023dd-7d50-4231-83ce-89dde116943a"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "goal", "start_step": 1445, "end_step": 1506, "id": "cbb4df6d-cd2c-4dae-a9b7-ac93f45b09a4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "goal", "start_step": 1507, "end_step": 1620, "id": "6d1b12e1-e376-4ace-906b-dcdebb20e9d0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "goal", "start_step": 1621, "end_step": 1694, "id": "90d63c84-2be4-4e0a-a135-f00232456605"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "goal", "start_step": 1695, "end_step": 1948, "id": "29b27d3d-64d3-4ebd-982f-df90f0f2cd24"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "goal", "start_step": 1949, "end_step": 2018, "id": "602a6531-f2b5-44b5-85aa-434bbe03630a"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "goal", "start_step": 2019, "end_step": 2402, "id": "3085615b-a0d1-44be-a6bf-9e528d500aee"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}, {"label": "home", "start_step": 2445, "end_step": 2473, "id": "bTI7bEZ8s_Saj6l3i2BO7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}], "episode_index": 23}
+{"source_uid": "964ac1a036dcc889", "num_frames": 2046, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "5c74fd8d-00ad-47f0-b546-05e90572d946"}, {"label": "valid", "start_step": 0, "end_step": 2017, "id": "Eumst9BNl7lX4Y8OI9LeM"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 125, "end_step": 348, "id": "90480648-b137-41d6-8dbf-613b02ccc128"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "goal", "start_step": 349, "end_step": 472, "id": "c6e3022a-b3f3-4929-8900-5028badb78c5"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 473, "end_step": 600, "id": "84b827f7-a299-422c-be86-67bbc6481073"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "goal", "start_step": 601, "end_step": 676, "id": "b009b10d-cb55-4ebb-8def-7935a6a08b58"}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 677, "end_step": 872, "id": "457d7c20-46b8-4e53-a9e8-d50a046b73eb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 873, "end_step": 914, "id": "93cb5201-c3aa-4fed-a3e4-79775d668861"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 915, "end_step": 1006, "id": "7f1b6ac9-3e55-43fb-b37d-8f7927054d80"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "goal", "start_step": 1007, "end_step": 1080, "id": "1a24c32d-0ec4-4e99-8ec8-967c1b92ec4b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1081, "end_step": 1198, "id": "18796abd-7cc7-4d9b-8e76-c251182f94cf"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 1199, "end_step": 1256, "id": "012f12f5-ddd1-417b-b79d-ed6b33024309"}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1257, "end_step": 1398, "id": "32a4ff6f-ca8b-4362-86cf-4dea1f574b7f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "goal", "start_step": 1399, "end_step": 1446, "id": "eaa84871-e566-4ebe-b2df-bb7a4ba38b1e"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1447, "end_step": 1570, "id": "e520af18-fc96-4701-8766-38ff1d5dced6"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1571, "end_step": 1608, "id": "8d92d2f8-7ba2-4968-8485-398a8292716e"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "goal", "start_step": 1609, "end_step": 1778, "id": "44a1d52d-d11d-4122-9e54-4eae29a3148e"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "goal", "start_step": 1779, "end_step": 1828, "id": "806225da-b927-449c-900c-515c01e82c04"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1829, "end_step": 1954, "id": "0042ceea-3830-49e7-9ae2-dc77003f7c31"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}, {"label": "home", "start_step": 2018, "end_step": 2045, "id": "WT2NHqPAHB8rrpFHQM6Ju"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}], "episode_index": 24}
+{"source_uid": "fe809daf4e3e0783", "num_frames": 1786, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "3c71740c-21fe-4559-bcc8-3cce2b4e2bab"}, {"label": "valid", "start_step": 0, "end_step": 1762, "id": "mOA_d6oqwwVcFQXxX_r7d"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 123, "end_step": 284, "id": "f80e0c73-5861-4125-8c0a-4fd2aabb6990"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 285, "end_step": 344, "id": "330e302a-cfa1-4c23-939c-db8f497e51f3"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 345, "end_step": 486, "id": "a0078746-d656-4b77-8ead-e563fa367786"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 487, "end_step": 548, "id": "ed0829ab-ca1c-460c-a0aa-a90578d68761"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 549, "end_step": 664, "id": "b2cd6373-f387-4302-9feb-fa5b5fdc4d53"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "goal", "start_step": 665, "end_step": 736, "id": "94f31179-28c2-436d-8f8e-686983328ac7"}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 737, "end_step": 860, "id": "8acf781a-325a-4769-8f1a-83dbcc9686ea"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "goal", "start_step": 861, "end_step": 912, "id": "121ebd2b-f588-4d0e-ad3c-70a74520f679"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "goal", "start_step": 913, "end_step": 1032, "id": "ed067487-bcd1-49d5-b6bb-206607201b79"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1033, "end_step": 1098, "id": "b982152a-5cac-4780-bb33-a457c78a54aa"}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "goal", "start_step": 1099, "end_step": 1250, "id": "c0d38af2-4482-4b3b-9cd0-bc97cf6f9e97"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1251, "end_step": 1288, "id": "13c5e3f9-ac39-48da-80f1-6dfc83c3737f"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1289, "end_step": 1376, "id": "9db98774-6f9a-4d66-9c90-96e91bc37705"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1377, "end_step": 1434, "id": "904aecb4-2152-430b-b35c-0c9019f01430"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1528, "id": "bc0a665b-1073-443a-8f32-623b1403d186"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1529, "end_step": 1596, "id": "ce27f125-2d57-4f41-8bba-31fc977c156c"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "goal", "start_step": 1597, "end_step": 1736, "id": "365f6aa9-0a6f-4a01-9b86-500794515c58"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}, {"label": "home", "start_step": 1763, "end_step": 1785, "id": "sMOFrT01trItdJsDjg-gb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}], "episode_index": 25}
+{"source_uid": "f286398675279a53", "num_frames": 2010, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "04dd5732-4ad7-4007-aaf0-79b33a4ca318"}, {"label": "valid", "start_step": 0, "end_step": 1987, "id": "HMhcrv5WsQjWopqzEicIE"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "goal", "start_step": 133, "end_step": 258, "id": "7cc3a3eb-0f9c-4865-bbd3-f6d3a86c0163"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "goal", "start_step": 259, "end_step": 314, "id": "f7368a8f-24de-426a-b3f4-fa49b3bfab36"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "goal", "start_step": 315, "end_step": 438, "id": "9b30b526-a3fc-410b-abfe-db547918b47d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "goal", "start_step": 439, "end_step": 500, "id": "6f7e2957-a679-48fb-b14d-b11c5eb49ec7"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 501, "end_step": 604, "id": "9b6928d8-6074-41e7-81e3-0f107cacb026"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "goal", "start_step": 605, "end_step": 686, "id": "9fcdf615-57b4-449d-9368-7d69b7eb71ec"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 687, "end_step": 812, "id": "4a20f5ab-a8a8-41be-b2fe-c4ea6802880a"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 813, "end_step": 872, "id": "e2c17de9-a5b9-4ff0-94bb-06629ef22a73"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 873, "end_step": 1000, "id": "9f867883-903d-4163-9e85-8ad54e235bba"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "c1de2a9d-6f4e-428b-9335-f4c823d46db6"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "goal", "start_step": 1077, "end_step": 1274, "id": "852f04b9-1302-4706-8d38-792acd91c92d"}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "goal", "start_step": 1275, "end_step": 1332, "id": "415cec86-9e68-4a58-86e4-c40afe7fde63"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "goal", "start_step": 1333, "end_step": 1494, "id": "1c43385b-0578-4b37-a02d-e7bf37331538"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 1495, "end_step": 1550, "id": "faee1a49-f5d6-459a-80d1-9becc63b0534"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1551, "end_step": 1706, "id": "8a04ed0f-34fd-4333-8017-55c41bc98d9d"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "goal", "start_step": 1707, "end_step": 1776, "id": "cd30a8c2-9863-4810-9dc5-8bc683505203"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "goal", "start_step": 1777, "end_step": 1952, "id": "a7f40192-edfd-4001-85a0-68a00b02c13d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}, {"label": "home", "start_step": 1988, "end_step": 2009, "id": "2_199ngJ4RVC7yUX91efs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}], "episode_index": 26}
+{"source_uid": "9c4087463103f438", "num_frames": 1892, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 121, "id": "6e993591-6e50-4dd7-96a3-f6070f9d4849"}, {"label": "valid", "start_step": 0, "end_step": 1861, "id": "yf9MjQquG6-fSq0m7_aGU"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 122, "end_step": 289, "id": "239c4866-dd93-4e58-9267-2f64dba1d41f"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "goal", "start_step": 290, "end_step": 353, "id": "c06b3b34-d852-459b-9d44-0514215a118a"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 354, "end_step": 485, "id": "d08e318b-06c2-49ce-9b16-f2755714d2f9"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "goal", "start_step": 486, "end_step": 549, "id": "e2d8d0db-7ae2-4cc5-9a84-1715a920c4ea"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "goal", "start_step": 550, "end_step": 735, "id": "65621c09-4250-4143-9427-b0f54b2439ba"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "goal", "start_step": 736, "end_step": 819, "id": "249bf3e9-89d1-4b92-8a47-bece4dd23c64"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 820, "end_step": 945, "id": "90cc4dfd-f578-4550-b967-ba08b9dd41a1"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 946, "end_step": 1003, "id": "c2764614-7417-452f-820c-29266f05e8cc"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1004, "end_step": 1097, "id": "5706b358-93b9-48aa-955a-a2b7695853de"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "goal", "start_step": 1098, "end_step": 1165, "id": "f9fdb436-5e6f-48ea-9ad0-957e052238f5"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1166, "end_step": 1257, "id": "603e6812-1a91-4b7e-9040-0197bbbe9935"}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1258, "end_step": 1319, "id": "e0bb320d-0fcc-40ef-a3a0-558bb45fba2b"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1320, "end_step": 1455, "id": "960a9fdb-8179-4bb6-9486-b6d644c549e2"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "goal", "start_step": 1456, "end_step": 1531, "id": "964174c1-51fe-490a-b281-443328c3fd26"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1532, "end_step": 1633, "id": "09aa3095-efee-4359-ad37-a073abf38e83"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1634, "end_step": 1701, "id": "bd854497-2d82-45d7-8541-972816b5f3ff"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1702, "end_step": 1817, "id": "b12ac01c-5fd9-4e60-9c8c-95a29f4b8222"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 1862, "end_step": 1891, "id": "cFDI1PHZM3wAldU2NvaJd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}], "episode_index": 27}
+{"source_uid": "a7f1df29b8f34c54", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "07acfadd-8428-4a79-8b3e-4dc4eea518da"}, {"label": "valid", "start_step": 0, "end_step": 1944, "id": "hPb1UMpSyrpVHYUSMhDZ_"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "goal", "start_step": 131, "end_step": 242, "id": "b20a8dd7-3b2d-47d6-ba59-f58e4c77418b"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 243, "end_step": 330, "id": "11cf02e4-d14e-480a-a3a7-9d30ce2f7733"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 331, "end_step": 502, "id": "3a40ede3-f251-4ec4-876a-e78efd82f43c"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "b116090f-8670-4fdd-8d68-99ade39d52e7"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 577, "end_step": 704, "id": "78262289-fa8c-4252-9d12-50fd595d2138"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 778, "id": "ea357a5f-693c-4e37-95c0-c633dad9b228"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 779, "end_step": 870, "id": "b8917b1d-8440-4dca-90c9-031e8bc0b777"}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 871, "end_step": 932, "id": "cb43c323-4f76-4fe7-a977-f9e901c36ecb"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 933, "end_step": 1038, "id": "d2e5958f-1cf9-40aa-a13b-c1976e789511"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1039, "end_step": 1090, "id": "054a0c5b-acc4-40bc-b249-e448756877ae"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 1091, "end_step": 1216, "id": "e455d7b6-9d72-4334-9094-bae7fec6893c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "goal", "start_step": 1217, "end_step": 1266, "id": "a1a0a875-f7f6-4f18-a934-9bbfe529f1cc"}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1267, "end_step": 1408, "id": "d309c4c0-943f-4390-9bad-672e4feb5aca"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 1409, "end_step": 1598, "id": "b2141ef8-a08c-41db-875f-0d78f4e2e874"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1599, "end_step": 1728, "id": "c293b15b-5a79-4e2b-9aa4-c3ec46c3d4e7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "goal", "start_step": 1729, "end_step": 1776, "id": "6dc527a2-3bda-441b-9f34-7a88d44d4bd5"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1777, "end_step": 1900, "id": "ceb146df-7b90-4474-98fb-5efc411a85ee"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}, {"label": "home", "start_step": 1945, "end_step": 1968, "id": "mjyqiUStq6YelPQRdSO0W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}], "episode_index": 28}
+{"source_uid": "c4ed661951693d2e", "num_frames": 2259, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 324, "id": "37972cf4-7e8e-4bcd-8538-9a377a7c3ea0"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "YwRH9HK7Rm932yD2J2z48"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "goal", "start_step": 325, "end_step": 666, "id": "ad274156-dad9-4eb9-ae75-eb99d6b8da97"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "goal", "start_step": 667, "end_step": 768, "id": "7d16c7b2-5356-4118-86b2-daa85d18d8f3"}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "goal", "start_step": 769, "end_step": 876, "id": "5d123ad5-50ae-4e16-8b49-54596eaeedb7"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "goal", "start_step": 877, "end_step": 958, "id": "1aa9029a-6578-4a54-9449-8adcb474a493"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 959, "end_step": 1104, "id": "46ae778e-af7f-4ff8-820a-3fdf9118290f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "goal", "start_step": 1105, "end_step": 1170, "id": "fb688db9-cbe1-435c-a2a8-c3b219c8dc92"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "goal", "start_step": 1171, "end_step": 1288, "id": "8bfabe8c-cf4e-4b3b-977b-e19d93b7b927"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "goal", "start_step": 1289, "end_step": 1340, "id": "79b04508-eb94-423e-86f2-11259123684b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1341, "end_step": 1446, "id": "f59e5dac-75c2-4e81-af65-f0b3879526b4"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "goal", "start_step": 1447, "end_step": 1506, "id": "898b547c-de6a-4f84-b48a-11280b964211"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 1507, "end_step": 1636, "id": "b9ed122c-e784-443d-b508-18f01ab5383b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "goal", "start_step": 1637, "end_step": 1708, "id": "147884d2-7a1b-4e59-8cc8-7738aed327ab"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "goal", "start_step": 1709, "end_step": 1806, "id": "25464905-c96a-4766-b859-b6ab120d0d15"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "goal", "start_step": 1807, "end_step": 1862, "id": "4e27d0a6-89e5-4707-9676-f68a1f65d51e"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1863, "end_step": 2004, "id": "7f1c4de7-75ce-4be0-a53d-b4b92bc07fc9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "goal", "start_step": 2005, "end_step": 2068, "id": "ee808080-f145-449c-9641-70f6897929df"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "goal", "start_step": 2069, "end_step": 2196, "id": "478083ab-f944-42c5-b9a9-32a04e6e518b"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}, {"label": "home", "start_step": 2241, "end_step": 2258, "id": "Ov-vYgvxUo-fMWIOs2TNC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}], "episode_index": 29}
+{"source_uid": "1585dca8f71d088a", "num_frames": 1949, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "b35a919c-c605-4eba-9f31-3f4fdc4a5a98"}, {"label": "valid", "start_step": 0, "end_step": 1922, "id": "sbSNz_AYPfHqSlE9iIDba"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 236, "id": "b8973121-6ae7-47e0-b0aa-af77e90c4943"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 237, "end_step": 304, "id": "59b38ccb-d269-4be3-9e0a-6e183549a9e6"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 305, "end_step": 422, "id": "f42432bd-ee77-4fa4-a0aa-8c460bd6c303"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "goal", "start_step": 423, "end_step": 492, "id": "f5b82f3d-1616-45cb-9449-2eb61d334ba3"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "goal", "start_step": 493, "end_step": 618, "id": "352e53ce-9049-4171-b64a-fdfc2e539abf"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "goal", "start_step": 619, "end_step": 704, "id": "5e96fe99-030d-419e-b475-81a792b0fda8"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 880, "id": "8deb6afc-79d4-48b3-a2c9-e655f1d13269"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 881, "end_step": 956, "id": "e4426b18-c5f8-45cf-8416-ff2e49f1c27e"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 957, "end_step": 1106, "id": "877e2d82-755a-4fa4-9f8f-50b2e51b5501"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1107, "end_step": 1183, "id": "61cebb38-035c-42a1-9abc-8cff4c2c15dd"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1184, "end_step": 1299, "id": "e18aa357-df2f-4c26-b619-9ac4826ee4cf"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1300, "end_step": 1415, "id": "b988afde-a7be-4e30-8521-64b4d81fb969"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "goal", "start_step": 1416, "end_step": 1541, "id": "5fced312-ce71-4180-91c4-cab5f9dea640"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "goal", "start_step": 1542, "end_step": 1607, "id": "3ae871e9-1f66-4905-97b8-23ca651aa6bb"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1608, "end_step": 1689, "id": "e93c6b3f-dfc1-48f9-8ea5-db4ec16501f9"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "goal", "start_step": 1690, "end_step": 1763, "id": "a6bbee33-ea11-4594-ad82-1d3f95f043f6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "goal", "start_step": 1764, "end_step": 1899, "id": "9d6495c1-b25a-43ad-bee1-ad74896673b5"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 1923, "end_step": 1948, "id": "-x3rI6NuoE1pTFnpI9xA0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}], "episode_index": 30}
+{"source_uid": "facf5c89374de42d", "num_frames": 2220, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "35320456-897e-4ac3-8fff-38d1dadac1a6"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "zasdL3PPhTs3E6Kixfjnt"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 137, "end_step": 234, "id": "c2863eb3-d32e-4d88-92e5-841c364513ff"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "goal", "start_step": 235, "end_step": 310, "id": "eeb6ab5c-11c6-473f-a6ad-aa88e53c495b"}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 311, "end_step": 466, "id": "855b5d3d-13a7-4a8c-9ab3-33353ed85f62"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 467, "end_step": 540, "id": "6167a6a3-3146-481c-8dec-93e8a2a2dae9"}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 541, "end_step": 640, "id": "cb370230-797f-4c3b-bc23-a63e8f3d6e77"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 730, "id": "4631eecf-3592-4331-86a6-9bbaf8df961a"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "goal", "start_step": 731, "end_step": 840, "id": "54287a62-16e1-49a4-bb6c-0542436301aa"}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 892, "id": "df87e4b8-2bb8-4f71-9327-d1e87928adb7"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 893, "end_step": 996, "id": "8bfe4faa-7cb3-4d20-b34a-30898e4a0c47"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "goal", "start_step": 997, "end_step": 1064, "id": "7b43661f-77aa-4fae-b7e7-38030c0dd6b2"}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 1065, "end_step": 1224, "id": "a9687224-4dca-4ac7-95b0-4dc3114ee1bc"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "goal", "start_step": 1225, "end_step": 1278, "id": "8a011638-6c91-407a-8575-c10b666326d6"}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1279, "end_step": 1372, "id": "0c0c4a2d-f2cf-4f63-aea0-97970256dfd6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1373, "end_step": 1431, "id": "6c67ec6b-21a4-417d-ab63-e8a87942ef03"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1432, "end_step": 1569, "id": "6cb3473b-2ee6-4d96-9d54-81f67d24c1ab"}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "goal", "start_step": 1570, "end_step": 1624, "id": "66731be8-dd71-4944-a881-8e2bf419a8af"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "goal", "start_step": 1625, "end_step": 2194, "id": "8557d868-09d2-435c-8088-8433407604da"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}, {"label": "home", "start_step": 2194, "end_step": 2219, "id": "sCbYzoWea0_cVpZQYt-5f"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}], "episode_index": 31}
+{"source_uid": "a81d9a09ad318444", "num_frames": 2264, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0e7d700d-fc25-4775-a82c-0ae87e3382ae"}, {"label": "valid", "start_step": 0, "end_step": 2233, "id": "14Uvrqgnxotdtd0OIZLc1"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "goal", "start_step": 127, "end_step": 246, "id": "9749b927-780c-4a71-884e-8830dd2d190b"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "goal", "start_step": 247, "end_step": 315, "id": "c1d866c7-2194-40be-9d21-2e8400ee77a7"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "goal", "start_step": 316, "end_step": 429, "id": "fbadcab6-9199-46de-b39e-f4add02efda7"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "goal", "start_step": 430, "end_step": 513, "id": "3c3aa968-6839-42d2-ae74-407ffbd48a16"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "goal", "start_step": 514, "end_step": 677, "id": "eab606b1-eda2-4d21-a784-7a020f052f8b"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 678, "end_step": 761, "id": "93443bd6-c65c-4763-a7b9-71818babe097"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 762, "end_step": 899, "id": "bb93025e-b652-4089-921f-a990fc0c9e6b"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "goal", "start_step": 900, "end_step": 971, "id": "3e658616-e8c7-40a5-a5e6-8d85006164cc"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "goal", "start_step": 972, "end_step": 1273, "id": "60f807cd-97b8-4ab8-8b2a-d31deeafab75"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "goal", "start_step": 1274, "end_step": 1391, "id": "235e4abf-dd76-45c7-89f5-280004ab5a9b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1392, "end_step": 1551, "id": "41f23f46-c519-438c-9a4b-4ea63a9d9625"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "goal", "start_step": 1552, "end_step": 1633, "id": "56e9dbae-e3d9-4c24-8800-e475563f4d96"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "goal", "start_step": 1634, "end_step": 1805, "id": "0c40e1d8-b408-4b3a-b7fe-6f2af283ab93"}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1806, "end_step": 1873, "id": "2510535b-76cb-47a7-b243-08941e3a9792"}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1874, "end_step": 1981, "id": "9e5596b7-7bb1-469f-8523-958650c8fd8d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "goal", "start_step": 1982, "end_step": 2039, "id": "58c26b65-65ba-4b40-980a-e1f70dc282d0"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "goal", "start_step": 2040, "end_step": 2189, "id": "6c944342-c230-4f72-9230-39a055d55747"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}, {"label": "home", "start_step": 2234, "end_step": 2263, "id": "bwu4D_s0QRdr6OqLL-ksn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}], "episode_index": 32}
+{"source_uid": "9fe0c612ffba510d", "num_frames": 1877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "0caf0f9c-bf0f-4326-b484-ca01b01aa5a8"}, {"label": "valid", "start_step": 0, "end_step": 1851, "id": "ljqE97Fmr-zznKtXzNyfR"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "6f17c396-5f43-4bcd-baaa-cf8a962fa445"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 235, "end_step": 302, "id": "bb3561ff-c204-479c-9302-e0949e834a88"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 303, "end_step": 426, "id": "5c01c44a-8be1-4b36-8580-05e80069e3f5"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 427, "end_step": 480, "id": "c7138101-b320-422d-a134-734a1f6e8089"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 602, "id": "5ec9fc9b-81f0-4a34-b31d-e7c8d2556eb6"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 603, "end_step": 680, "id": "da243573-c8ef-489b-8bb3-2d24da1b8a54"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "goal", "start_step": 681, "end_step": 784, "id": "97784acc-3fe8-4609-b2fb-1eb37e3fcc33"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "goal", "start_step": 785, "end_step": 882, "id": "c23e639e-9f4e-4ebe-887d-780d9c6a2a75"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "goal", "start_step": 883, "end_step": 1000, "id": "03187d51-592e-4d09-9afb-9707b27a917a"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "a7766855-2809-4df4-acf1-45901cd59138"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1077, "end_step": 1218, "id": "1fb096cf-a109-45d2-81f1-261744d33960"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 1219, "end_step": 1294, "id": "368a831d-cbfa-4b90-9071-e8f36c510b58"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1295, "end_step": 1394, "id": "d392811e-8fca-4276-ac10-826454339be5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "goal", "start_step": 1395, "end_step": 1496, "id": "b3eb556f-f83d-4c91-8908-88144b660784"}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "goal", "start_step": 1497, "end_step": 1626, "id": "8612754d-f58e-4671-b418-e198f36c5cba"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "goal", "start_step": 1627, "end_step": 1680, "id": "de566b7a-1fc1-4948-9a64-b91b45fdd35c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "goal", "start_step": 1681, "end_step": 1818, "id": "30c693d9-8509-43ef-b41e-7a787ed57944"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}, {"label": "home", "start_step": 1852, "end_step": 1876, "id": "2_iXm2YqTxKWH8eZVkzUY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}], "episode_index": 33}
+{"source_uid": "703a71220ee9bee6", "num_frames": 2209, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the wooden base at the center of the table without touching it."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "a750ab42-42f8-4def-888e-664cd0e36302"}, {"label": "valid", "start_step": 0, "end_step": 2182, "id": "2cB7j1DSJtIipZymAdPKr"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand contacts the edge of the wooden base, fingers adjust to establish a stable grasp on the base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "3cabf69b-1ac8-4dc8-a4b7-9b4a4d24bde2"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the green block to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block and retreats upward from the assembly area."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple post of the wooden base, then releases the block."}, {"label": "goal", "start_step": 273, "end_step": 338, "id": "f6842f0c-6528-485d-ab43-81b2f2a642ee"}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 339, "end_step": 458, "id": "48d15e10-9f50-49a3-ac09-aeb3565b8380"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 442, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 459, "end_step": 575, "id": "ebb3a755-875c-493d-986d-e7b9a539ad69"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 576, "end_step": 707, "id": "42116774-62ac-4193-92cf-577d014da07e"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}, {"label": "goal", "start_step": 708, "end_step": 785, "id": "fb34938c-0843-4290-a572-02061230ff09"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 786, "end_step": 885, "id": "3f22e731-20ad-4a99-9c94-940b6124d4f3"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white ring placed on the peg of the wooden base."}, {"label": "goal", "start_step": 886, "end_step": 947, "id": "9ef1c3c2-cb33-41f7-b79f-3138e4137e20"}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 948, "end_step": 1061, "id": "dac7146c-9e0d-4f4d-8f88-155642f63d75"}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1062, "end_step": 1135, "id": "49aae345-fce8-4bfb-8cca-9117b10d3d40"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1136, "end_step": 1257, "id": "b24f739f-c4cd-432c-b3cb-404784b83605"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1258, "end_step": 1327, "id": "66d8aff9-9e90-4d8a-bcb1-f3cecd209341"}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1328, "end_step": 1693, "id": "c33696da-be52-4e61-bed2-b7307ba95263"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1694, "end_step": 1771, "id": "9ec99aaa-0b51-49bf-a0ff-41e18b4dd363"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1772, "end_step": 1973, "id": "1fe36bd0-6bf5-4e22-a26d-be25b73b7fc6"}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white cylinder onto the purple rod on the wooden tray."}, {"label": "goal", "start_step": 1974, "end_step": 2033, "id": "74b9577e-6204-4e5a-9c98-42831d7f6d3b"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the green square block on the black table surface."}, {"label": "goal", "start_step": 2034, "end_step": 2167, "id": "b4653856-be52-42e7-8644-c76e8acc4cb8"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "home", "start_step": 2183, "end_step": 2208, "id": "nZP1FxulmR1jn4et0Zrv0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the wooden base at the center of the table without touching it."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand contacts the edge of the wooden base, fingers adjust to establish a stable grasp on the base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the green block to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block and retreats upward from the assembly area."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple post of the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 442, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white ring placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white cylinder onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}], "episode_index": 34}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6aeaca458b8760c1a1105bffaf956b55ea0bdb5a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,35 @@
+{"source_uid": "10b94b8542724f2a", "num_frames": 2544, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "adc34af3-e3d4-4fd0-9324-c63cfebe85e5"}, {"label": "valid", "start_step": 0, "end_step": 2515, "id": "_VGSNHjBjUlBEhY3KGJnJ"}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 137, "end_step": 349, "id": "ac770945-e8c0-4835-8720-be3a0f83d980"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 350, "end_step": 435, "id": "884cbb03-589f-4853-bb9e-5f2c59bc5b12"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 436, "end_step": 571, "id": "31dde9f3-6eef-4157-9061-ebb41a26dcd4"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}, {"label": "goal", "start_step": 572, "end_step": 666, "id": "360105ac-9d89-4e2a-b0e1-57e26cbf6814"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 667, "end_step": 842, "id": "26ab1673-cf70-4ca3-8859-34db15c98462"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}, {"label": "goal", "start_step": 843, "end_step": 1090, "id": "6b844e05-deb9-46ca-8342-5f5cd12b5bda"}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 1091, "end_step": 1219, "id": "d6399cc7-778d-446c-bef9-091388a06f4b"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1220, "end_step": 1293, "id": "7bb1b9f6-660b-40f2-b10c-71c869824c93"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "goal", "start_step": 1294, "end_step": 1452, "id": "cc688aac-c0e8-45e8-85d0-9108f2db0370"}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1453, "end_step": 1527, "id": "62e2fb39-faae-4642-bb6b-04c7f7cdbf70"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1528, "end_step": 1671, "id": "b6dad6db-fd52-4270-84d7-e2c43c50623d"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}, {"label": "goal", "start_step": 1672, "end_step": 1756, "id": "b0ab7323-754f-4ed6-a6eb-3bf81560df72"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}, {"label": "goal", "start_step": 1757, "end_step": 1886, "id": "bf30c65b-64db-4cfe-bb35-a83d544e5d1f"}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}, {"label": "goal", "start_step": 1887, "end_step": 1977, "id": "63df7e6c-f32e-448a-871f-d040b5133488"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1978, "end_step": 2224, "id": "48b18501-e5a8-497a-a37b-eacf8b406315"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "goal", "start_step": 2225, "end_step": 2297, "id": "66921c71-f74e-4fa3-8664-fc60d90eec4d"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "goal", "start_step": 2298, "end_step": 2466, "id": "a4304520-0d21-4378-966e-536bf06f2ab1"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}, {"label": "home", "start_step": 2516, "end_step": 2543, "id": "9-VZ41MTJdfPESzfuUKWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}], "episode_index": 0}
+{"source_uid": "ded4c6296fd67704", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 178, "id": "66a7417c-e105-4b60-876d-715a94409981"}, {"label": "valid", "start_step": 0, "end_step": 2927, "id": "QKo1F1UebcJm1u8OcsLbI"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and fits it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block located on the black tabletop."}, {"label": "goal", "start_step": 179, "end_step": 473, "id": "b9ffe74d-6807-4fec-9148-8933bfc53c47"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 474, "end_step": 618, "id": "ab6cdf46-23f4-4b4b-a501-7171405d8a60"}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 619, "end_step": 761, "id": "9e31bf5e-e0a9-4e61-8b45-d845e11efbc2"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 762, "end_step": 850, "id": "0ff8712e-77dd-4b0c-b1a4-6d2728f94a2e"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 851, "end_step": 1052, "id": "729b66ef-cbc0-4fe6-8d57-c25e98eaa872"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1053, "end_step": 1134, "id": "64062945-1bca-4f55-a96e-0e8e416e1072"}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1135, "end_step": 1269, "id": "af781703-feba-4732-9f66-7a1bf7c46c7f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1270, "end_step": 1352, "id": "5b1089aa-e740-4a04-af1d-62f97fe296a5"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1353, "end_step": 1462, "id": "e6e5cb82-2536-401c-b9bf-701f042d74e2"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1537, "id": "8a0079d2-b83d-4d86-b4fb-5d4e0d76d0b9"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1538, "end_step": 2163, "id": "38fcc919-7346-44a0-9233-224e724f11b7"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 2164, "end_step": 2240, "id": "438276bd-422a-4c41-8e2d-e0d9ee95bc4c"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2241, "end_step": 2420, "id": "9f5c6512-fdff-4860-bbd6-e0dbd716db88"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 2421, "end_step": 2486, "id": "a0c2c040-d7d5-4e46-96fb-3bcd0bd334c9"}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2487, "end_step": 2644, "id": "e9be358d-638c-489d-92a1-92b9616141ee"}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "goal", "start_step": 2645, "end_step": 2733, "id": "13b36e15-ba36-464b-9641-a0858cbeb2d7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2734, "end_step": 2891, "id": "1867f183-f5c5-4a67-88b6-ce24994e316e"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}, {"label": "home", "start_step": 2928, "end_step": 2955, "id": "MzYogtalYlJcRkeo36Ird"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and fits it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block located on the black tabletop."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}], "episode_index": 1}
+{"source_uid": "cca582039532b8d6", "num_frames": 2266, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 151, "id": "acdb5e5b-a9f7-4436-8a95-bdfa2d7bc6fd"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "Ihe57_rLJ6K9jZYMOOOhJ"}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 152, "end_step": 320, "id": "e4ba8c2f-17c0-41c6-b176-91cb0e2630c4"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "goal", "start_step": 321, "end_step": 401, "id": "9555ac72-3eac-4d10-bb5f-21c0bc6470bb"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "goal", "start_step": 402, "end_step": 565, "id": "989c881c-f185-4fc9-928d-b6bcc3269b0f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "goal", "start_step": 566, "end_step": 664, "id": "da9106af-b49e-4a07-80ff-a45d72692933"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 665, "end_step": 907, "id": "2adcd9a2-90b5-48d5-a871-3ca7dec3eea8"}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "goal", "start_step": 908, "end_step": 983, "id": "2956bfd9-bfb6-44de-b53b-b378b85af6da"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "goal", "start_step": 984, "end_step": 1130, "id": "8267c26b-2f36-48f2-adc7-8edb310775c4"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1131, "end_step": 1201, "id": "9d404b37-c142-4fad-9cc9-1c1066123f44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1202, "end_step": 1375, "id": "014b1403-ccd6-4618-a1ad-2edc03b2278d"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "goal", "start_step": 1376, "end_step": 1445, "id": "6d679667-53eb-43c4-8ca8-ef04e45d2315"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 1446, "end_step": 1602, "id": "7a1dea3d-1785-4915-8277-cdbe9ee834f2"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "goal", "start_step": 1603, "end_step": 1671, "id": "7844121b-ee41-43af-b111-f7a421bbdeff"}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "goal", "start_step": 1672, "end_step": 1778, "id": "581759fe-9dbe-4838-aa01-35a386519a28"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1779, "end_step": 1845, "id": "6261953a-9b54-4d6f-8bda-184f0a94ae30"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "goal", "start_step": 1846, "end_step": 1996, "id": "9ff14d8b-716a-4bf8-b16c-296a4c6ca92f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "goal", "start_step": 1997, "end_step": 2062, "id": "0b574d7f-39a0-49ae-9a16-f757f1093708"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "goal", "start_step": 2063, "end_step": 2202, "id": "72256426-59d2-40e9-b481-7b153db510a4"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}, {"label": "home", "start_step": 2236, "end_step": 2265, "id": "3nhe3XnA_bnSMOK4FnXAz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}], "episode_index": 2}
+{"source_uid": "ea6170b4e69a72e1", "num_frames": 2552, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "920e1521-92d4-4193-b165-ecb4599a8603"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "Szj0y_m_5bOEE971vf2PI"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 295, "id": "dc764853-8e82-4e7c-968f-e4e6d51c03f0"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "goal", "start_step": 296, "end_step": 415, "id": "4867bc5d-cd55-4347-9228-dd1442aec95a"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 416, "end_step": 587, "id": "b85968bd-8ed5-4745-b987-9d15ad603385"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 588, "end_step": 669, "id": "9d4e044e-52e9-4877-bfd8-5c10a6e1fd57"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 670, "end_step": 839, "id": "668b2521-9ed2-4d33-9c61-5f0b8942a5ea"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 840, "end_step": 922, "id": "d8017aed-aca7-4837-9d95-b9b4901074d3"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 923, "end_step": 1153, "id": "7ec5d23c-ac78-4705-a2f2-8dfe5ccbd8c8"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "goal", "start_step": 1154, "end_step": 1237, "id": "475a0f3b-e6f3-4c48-94ae-dc029c199b1b"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "goal", "start_step": 1238, "end_step": 1359, "id": "057fea47-33a8-498f-90e1-b4b7553d6cab"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1360, "end_step": 1444, "id": "d547638e-9d1b-45cc-af00-d94b8a02ebb5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1445, "end_step": 1604, "id": "1bbc3b44-e972-430f-9a83-bf2369db961e"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "goal", "start_step": 1605, "end_step": 1679, "id": "290060f9-be34-4227-b204-23dceaa755be"}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1680, "end_step": 1829, "id": "edc32e3c-1111-4e80-b318-4760ff8c6478"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1830, "end_step": 1900, "id": "3226dcff-ff34-4211-9756-45c49ef58c9b"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1901, "end_step": 2026, "id": "76551511-062e-430d-a5b2-ba1914f91733"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "goal", "start_step": 2027, "end_step": 2090, "id": "2e73f6d9-007c-4062-80bf-655d3f15d141"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2454, "id": "cf87f5ca-4e29-4b37-9342-cd22a5894659"}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}, {"label": "home", "start_step": 2531, "end_step": 2551, "id": "HWxg7o5dGkXWmH_GwKJae"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}], "episode_index": 3}
+{"source_uid": "70c84f057faea2da", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "09520fb5-501d-4902-8658-1ec1fca1d8a1"}, {"label": "valid", "start_step": 0, "end_step": 2265, "id": "wZt9RFAhbY6umf_ffLoEj"}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 119, "end_step": 248, "id": "7874ce7a-f9a9-4ae5-b44c-925807b8064f"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 249, "end_step": 339, "id": "de0de7bc-5fc3-490d-a592-87a8b441e328"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 340, "end_step": 462, "id": "8824e510-f19e-408e-b362-d788a63f3e54"}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 463, "end_step": 562, "id": "99c4ef34-c65c-41b2-ab3c-e12f475ff04e"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 563, "end_step": 792, "id": "6ea8af2b-fb3f-4544-9dcb-00c54aa9ceec"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "goal", "start_step": 793, "end_step": 872, "id": "f488327a-4491-4522-9d07-e472cb471242"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "goal", "start_step": 873, "end_step": 1018, "id": "14ada7ed-dda9-413f-9aa8-bc39669631ae"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1019, "end_step": 1094, "id": "a76c3b7f-1113-469a-a5b1-37e9b525d2f2"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "goal", "start_step": 1095, "end_step": 1206, "id": "20a993aa-6ddc-4bf8-9ea5-a85dfb5e5c2c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1286, "id": "b6df6942-4341-4595-8d9e-14543ccc725c"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1287, "end_step": 1438, "id": "aaa5fd58-5651-4710-85f2-ea77aa935a01"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1439, "end_step": 1513, "id": "b6482b56-98c5-4419-a996-82c839b31217"}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1514, "end_step": 1616, "id": "27a5d9a3-8be9-489b-a9a9-f0c681e4229b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1617, "end_step": 1675, "id": "beceb354-f7a4-409b-90a9-1a933a1f0076"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "goal", "start_step": 1676, "end_step": 1805, "id": "38844713-a76e-490b-8690-d1ab766963c5"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1879, "id": "b1a3a3bf-9db9-48b3-865f-b5bc9bb33126"}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1880, "end_step": 2207, "id": "8b378863-c650-4b42-be50-89508bf6afac"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}, {"label": "home", "start_step": 2266, "end_step": 2292, "id": "HXY6fE0i_AE35sL-PGATt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}], "episode_index": 4}
+{"source_uid": "d60d15050a4f8004", "num_frames": 2182, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "bfe69d1b-7fd8-47c7-84e5-562ae9d6adf9"}, {"label": "valid", "start_step": 0, "end_step": 2157, "id": "Y26pOArayM3BxMn8JWwns"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "goal", "start_step": 161, "end_step": 312, "id": "505a8258-59f2-4f8f-a2d4-6d87f9ad5fa2"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "goal", "start_step": 313, "end_step": 400, "id": "221b6c43-cc97-459d-92b2-4680990072a3"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "goal", "start_step": 401, "end_step": 534, "id": "4fbe6009-b481-4aa2-8997-d84fe55f1703"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "goal", "start_step": 535, "end_step": 604, "id": "81134f36-198e-45d7-9ba4-8201dbf5fa1f"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "goal", "start_step": 605, "end_step": 808, "id": "eb7cda13-a8c9-46aa-86df-a9a1455bd497"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "goal", "start_step": 809, "end_step": 878, "id": "ba3085a5-7920-47d9-8caa-40e47ca1e872"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "goal", "start_step": 879, "end_step": 1030, "id": "638b90a2-b917-4494-8c77-b57a1d27812f"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "goal", "start_step": 1031, "end_step": 1100, "id": "21d525a1-ef80-4af2-9e94-4af149cff699"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "goal", "start_step": 1101, "end_step": 1246, "id": "83c6b094-d9e4-4fd2-a3a3-3dd5db596fb0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "goal", "start_step": 1247, "end_step": 1322, "id": "b1ac3748-bf34-4c98-8c24-31464394e079"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 1323, "end_step": 1444, "id": "39343787-7d9a-47f8-a6d4-02a94bad9b9f"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "goal", "start_step": 1445, "end_step": 1516, "id": "cd245fd9-094c-4ce0-a8cd-243ea90d3416"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 1517, "end_step": 1704, "id": "4b870bc4-a760-4022-b77b-0485c401bf08"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "goal", "start_step": 1705, "end_step": 1780, "id": "6e2c681c-ece1-4367-8f94-370514b104d9"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "goal", "start_step": 1781, "end_step": 1898, "id": "3f29ed66-7a79-48fd-beb8-c6dcbc9c8ede"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "goal", "start_step": 1899, "end_step": 1960, "id": "ba348628-b710-45a6-9319-03215e4736cb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "goal", "start_step": 1961, "end_step": 2130, "id": "66ce808b-8c53-45e1-9c5b-b8d0abf23978"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}, {"label": "home", "start_step": 2158, "end_step": 2181, "id": "am4LSp0ecn2K-xnVg3yAy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}], "episode_index": 5}
+{"source_uid": "068bddb7415693d6", "num_frames": 2303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "goal", "start_step": 0, "end_step": 188, "id": "c972918c-b56f-444f-bb76-90927e8c893a"}, {"label": "valid", "start_step": 0, "end_step": 2274, "id": "1vkPg-rbJE4TPHaQd84Kt"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 189, "end_step": 436, "id": "e0b07416-6ce2-44ab-8281-192e5ae769d6"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 437, "end_step": 512, "id": "4b0e4a64-3127-44af-8f13-45aeace3975d"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 513, "end_step": 668, "id": "9e61d80a-ea2c-42a5-bfca-bf806c6390e9"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 669, "end_step": 752, "id": "fb04f035-8620-41bc-afc3-179312fd9f65"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 753, "end_step": 878, "id": "d3592c79-3177-4352-8a79-5cd93b15e790"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 879, "end_step": 978, "id": "f0671562-2ae8-4a3b-9347-21c4b7c4c0b8"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 979, "end_step": 1080, "id": "cc4264e1-2f35-4c51-96c2-5a02bb4cbcbf"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "goal", "start_step": 1081, "end_step": 1148, "id": "7c7e7336-6765-42c8-9489-7c5dfe1ad665"}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "goal", "start_step": 1149, "end_step": 1296, "id": "98db18f8-738f-4223-8624-84d59f6f417c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1370, "id": "84345069-c20c-4a9a-b06f-15055e08efcb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "9a242000-272f-4632-89a8-e6343f1f025d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "goal", "start_step": 1515, "end_step": 1590, "id": "3edf5ec3-4c76-4370-b146-cd4ef871b9bc"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1718, "id": "53e0d0b6-f948-445f-8abc-474f9bcbe5d0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 1719, "end_step": 1780, "id": "876c6dc0-77b7-4ddb-9a0b-a09aa77d4c9e"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "goal", "start_step": 1781, "end_step": 1900, "id": "2f2cbf87-645c-466f-bf2c-a9ab2eec7377"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "goal", "start_step": 1901, "end_step": 2040, "id": "553cfae8-ad9d-40ae-967c-da6f93ca892e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2041, "end_step": 2210, "id": "0a9cb143-271c-438b-b341-c09cac147c16"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}, {"label": "home", "start_step": 2275, "end_step": 2302, "id": "ag9amdiQ1J8Rw1dWdKW9e"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}], "episode_index": 6}
+{"source_uid": "f3e90839fcc4cae2", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "87d5c9a3-df8b-49e2-8e04-377a94957ba1"}, {"label": "valid", "start_step": 0, "end_step": 1936, "id": "Klxcn-adG5v-kB_c_hNTH"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 113, "end_step": 230, "id": "d69c9178-35e2-456f-8bc6-e16cf6fdc552"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 231, "end_step": 282, "id": "470e4a19-0cf1-4d96-a4d5-116d57b3409a"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 283, "end_step": 380, "id": "d9c50ff7-f7d1-4284-b821-fa2dafe7f2db"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "goal", "start_step": 381, "end_step": 448, "id": "d333eeb4-0384-4f9c-ae1c-308bf3272832"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 449, "end_step": 594, "id": "7da90fb0-1159-4b53-8173-f72816391b27"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 662, "id": "6692e499-9b72-4fc2-b41d-1c08b8d9d002"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 663, "end_step": 798, "id": "bd52ca5c-e29b-4d84-b175-6fc913ab900a"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 799, "end_step": 864, "id": "2e8d5005-8783-486c-8300-02983355dcdc"}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 865, "end_step": 986, "id": "8addf7f0-11a7-4d30-9d7e-0f3932a4cd22"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "goal", "start_step": 987, "end_step": 1048, "id": "c731881c-858a-4704-9303-2c4b4824e53f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1049, "end_step": 1382, "id": "d949428f-8bf4-4d7d-ba80-92f955815a5a"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1383, "end_step": 1418, "id": "47fc9e65-0db7-44e4-8fcb-ff191ee6bf8c"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1419, "end_step": 1532, "id": "bc0e3994-2f71-4535-83a2-a38b98e657e4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 1533, "end_step": 1602, "id": "6f17a78d-c149-4128-acc8-c5c90e75eb43"}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1732, "id": "63b7fff1-cd08-426a-8720-a202eb49371a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "goal", "start_step": 1733, "end_step": 1788, "id": "c68f7525-980d-4aca-a47f-13c85c8b8cb8"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1906, "id": "d404e2d3-bc38-4b18-971d-615173a746ee"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}, {"label": "home", "start_step": 1937, "end_step": 1968, "id": "X5Q692MRPZMfbVW1YYxiv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}], "episode_index": 7}
+{"source_uid": "678d982095042918", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "6064e66d-9e8a-4ec5-8e48-344fdb5d36ff"}, {"label": "valid", "start_step": 0, "end_step": 2264, "id": "TiG_KerQb4MqOeyP8iyUf"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "e01f71c2-087f-42a9-afb6-eb4b8a3faa33"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "goal", "start_step": 235, "end_step": 304, "id": "01be88c4-4c0d-46b0-8f00-833104b09017"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 305, "end_step": 424, "id": "a97e1277-007b-42aa-97e8-f09f7c9ada8c"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "goal", "start_step": 425, "end_step": 592, "id": "827d90bb-c3c2-481c-b3c6-2a5643c3c783"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "goal", "start_step": 593, "end_step": 736, "id": "cf02d804-56b3-4e5a-aa98-91fe8132c581"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "goal", "start_step": 737, "end_step": 792, "id": "d887fe0b-a412-48d1-a049-00c1c288191e"}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "goal", "start_step": 793, "end_step": 1222, "id": "15d2ec0b-be71-4281-a045-84b3852c29fb"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "goal", "start_step": 1223, "end_step": 1284, "id": "50195215-2932-4c1c-8ea7-436375578e49"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1414, "id": "de298a53-164f-4cc7-84f8-f9f6c309378d"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "goal", "start_step": 1415, "end_step": 1540, "id": "c7a12d12-d867-4287-923c-85274c2929a0"}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "goal", "start_step": 1541, "end_step": 1680, "id": "ea5fa4ba-b22e-44c6-8ab8-97b3bc682f87"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "goal", "start_step": 1681, "end_step": 1750, "id": "30f8b718-798b-4920-ab14-85571562e226"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1864, "id": "9f5bee45-11fd-469d-9088-290ffa6c271d"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "goal", "start_step": 1865, "end_step": 1922, "id": "ee79a589-c1ad-473c-83ec-adde95fa4f9d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "goal", "start_step": 1923, "end_step": 2050, "id": "8323e24d-9081-4aaa-af21-2bee074cbd3c"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "goal", "start_step": 2051, "end_step": 2114, "id": "e4e7f4cc-86a3-445b-93ba-6d36b3f32bf1"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "goal", "start_step": 2115, "end_step": 2230, "id": "1c1f9e89-b8ca-48b3-ab8b-58d5ebc01748"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}, {"label": "home", "start_step": 2265, "end_step": 2292, "id": "5ut8_PAL3TUu9rhVzqnTg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}], "episode_index": 8}
+{"source_uid": "902bc458c9698a87", "num_frames": 2235, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "be1e0720-0d12-4206-9716-3e7168fc15e0"}, {"label": "valid", "start_step": 0, "end_step": 2205, "id": "mF5AJL1oT9MtVzY4WTGV5"}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 113, "end_step": 240, "id": "e69fc536-ad0a-4d30-81a3-13e13d9c4586"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 376, "id": "58600485-3676-44f2-9a3e-8c64bc73b80f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "goal", "start_step": 377, "end_step": 534, "id": "3205ef15-ced4-4d91-9590-c1e1b0a99e3d"}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 535, "end_step": 600, "id": "0b4ccbe2-9369-4c6f-b069-90189b0e07cf"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 601, "end_step": 772, "id": "73afbe5d-4c5d-4be5-9aa7-50e284bfaa6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 773, "end_step": 858, "id": "1bb166d0-880e-48c5-8dc6-44710a6b9856"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 859, "end_step": 976, "id": "119165fd-188b-454f-823a-01ec8256fb46"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "goal", "start_step": 977, "end_step": 1044, "id": "49302668-30cb-4038-9b3c-fd43e85c5bb9"}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "d9fb85b8-49ed-4ed1-9d49-c3d038a37385"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1264, "id": "84a5c189-c9d4-4ee4-bf3e-7202f52aace4"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1388, "id": "3a8d58e4-365c-49bd-9f99-30c45cd3335c"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "goal", "start_step": 1389, "end_step": 1468, "id": "1c6d7d60-9189-4933-9476-b42e6d94b021"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "goal", "start_step": 1469, "end_step": 1746, "id": "842af184-8452-4c42-b184-348b88d92cf8"}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "goal", "start_step": 1747, "end_step": 1816, "id": "ffe41342-3b20-4d4f-80fe-762611fe1f0b"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1817, "end_step": 1942, "id": "e83f3815-6bfc-4745-a579-ad799e7e4790"}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1943, "end_step": 2012, "id": "f97ee7bd-e5dd-4833-96c5-319e75669f9f"}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 2013, "end_step": 2162, "id": "cba7599b-396a-4b20-b78f-5708fb1d0536"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}, {"label": "home", "start_step": 2206, "end_step": 2234, "id": "0DPdNjQGhfYp69EoU9tbO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}], "episode_index": 9}
+{"source_uid": "8f7d577021d739a4", "num_frames": 1942, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "98640772-d61e-47d7-a12e-4c6729c56df7"}, {"label": "valid", "start_step": 0, "end_step": 1916, "id": "ahzoMCuXUxM2gjFo1rKrS"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 135, "end_step": 258, "id": "ef6b1e69-0f93-481d-8dfa-1e919a98b0b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 259, "end_step": 324, "id": "5b12b8ca-2136-462f-bb01-1ce78852a350"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 325, "end_step": 464, "id": "8c7e08a7-4d07-4998-abb6-92e19491dfec"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 465, "end_step": 528, "id": "5803c679-6c81-4018-9f95-25d8f7747bc2"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 529, "end_step": 646, "id": "255d0815-ccf4-4bbc-ac6a-1c71ce6ed2d5"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "goal", "start_step": 647, "end_step": 738, "id": "b06b0e87-01f4-4c43-8345-5516976cb227"}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 739, "end_step": 902, "id": "a584861e-99dd-4134-a33a-f8e53e5e511c"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "90ab0fc4-688c-4d62-bc6d-454298a05df1"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 975, "end_step": 1086, "id": "3c56eb2a-52f7-4e68-a8b8-9ac5a536916c"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "goal", "start_step": 1087, "end_step": 1144, "id": "bac77999-4eea-4bdf-8bf5-650d2ce82e44"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1145, "end_step": 1282, "id": "28ccf642-537b-4c3e-b08e-68a5e4945e1a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1283, "end_step": 1366, "id": "89316112-d266-462b-9039-dda050ee6cf6"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "goal", "start_step": 1367, "end_step": 1470, "id": "95cbf710-8fd6-4956-9b39-2ec4dc215beb"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "goal", "start_step": 1471, "end_step": 1556, "id": "1cb91cd7-1506-466c-87f0-024466375876"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1557, "end_step": 1690, "id": "2bab7432-d050-49c3-9187-7b8df1207fc6"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1691, "end_step": 1770, "id": "df63d338-afd8-4394-820f-d8787c585667"}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1874, "id": "52236148-8d91-4ef1-b78d-5b46092bb998"}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}, {"label": "home", "start_step": 1917, "end_step": 1941, "id": "8MxUwwO1eO34NC4rXK0G1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}], "episode_index": 10}
+{"source_uid": "eefd9323d36fc84e", "num_frames": 2070, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "18a5ddee-3d6b-4af5-82c7-1acdf001edda"}, {"label": "valid", "start_step": 0, "end_step": 2034, "id": "wVGzijfBhmc9qgI4RlRPW"}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "goal", "start_step": 109, "end_step": 272, "id": "e2704f44-f690-4b68-9300-bd213e6fb024"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "goal", "start_step": 273, "end_step": 328, "id": "8e901b33-be46-45db-894f-b0077ebe1e66"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "goal", "start_step": 329, "end_step": 496, "id": "eed91713-d3a0-4dda-a0c1-3d3e0cb71c4f"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "goal", "start_step": 497, "end_step": 558, "id": "c5f5a4f1-d0f3-4509-91c9-b5547a33086a"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 559, "end_step": 696, "id": "f5a69d8d-a0f0-44a8-a95e-846d61cba43f"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "goal", "start_step": 697, "end_step": 762, "id": "57ca6401-40f0-4b64-b794-6553d76bbfb6"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 886, "id": "8e323531-3a2c-4a4e-92b0-ab3f142d209f"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 887, "end_step": 938, "id": "0e06391d-bbe2-437e-bc85-f9942f63393c"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 939, "end_step": 1052, "id": "d6402ef0-8590-4101-9a2a-2c3c038aa28b"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "goal", "start_step": 1053, "end_step": 1194, "id": "becb67f6-a1cd-4717-8fc2-4b3f0e302f98"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1195, "end_step": 1338, "id": "5eeda75c-3267-462f-a36b-702440a3a414"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "goal", "start_step": 1339, "end_step": 1408, "id": "ef377df3-b942-40b7-94b5-b22f0e39bf85"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "goal", "start_step": 1409, "end_step": 1546, "id": "e7fd5ca7-1eea-4406-8932-1bce0bb7365d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 1547, "end_step": 1602, "id": "928ce6cb-6642-4f3f-aeb6-10938bf0a273"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "goal", "start_step": 1603, "end_step": 1748, "id": "2c36e989-3b2a-4b9a-8673-5cee8c33e8f4"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "goal", "start_step": 1749, "end_step": 1802, "id": "7c72f87a-a167-4ed2-b842-d8ddadc457bf"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 1803, "end_step": 2002, "id": "feb08c7b-ae34-478b-a897-f7ee85f93330"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}, {"label": "home", "start_step": 2035, "end_step": 2069, "id": "LZHduQ2l47e6_qPHCwW3a"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}], "episode_index": 11}
+{"source_uid": "a99e81f59b798961", "num_frames": 2101, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "c4d32597-3b6a-4808-8c92-68a8a49853b5"}, {"label": "valid", "start_step": 0, "end_step": 2075, "id": "I6lSL14v3W7OCT61C1PFx"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "goal", "start_step": 117, "end_step": 234, "id": "38ecd9b5-393b-4a84-981d-53689796ff63"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 235, "end_step": 380, "id": "c925e375-735a-4600-9472-866cc11586a6"}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "goal", "start_step": 381, "end_step": 502, "id": "d985cdfd-4591-4584-885d-c4c066c5bed7"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "goal", "start_step": 503, "end_step": 589, "id": "8091bcaa-e9c6-4d01-b771-ce1f32d47482"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 590, "end_step": 731, "id": "db52ca9d-6039-45b6-8ff2-6208c5bfe3c0"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "goal", "start_step": 732, "end_step": 810, "id": "dfb14392-dd81-43db-9529-264bb04a3c97"}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "goal", "start_step": 811, "end_step": 976, "id": "d9c86510-6b22-4943-bfba-30997375c6ac"}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "goal", "start_step": 977, "end_step": 1034, "id": "f1bab238-3443-4229-b1eb-206ba4881447"}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1035, "end_step": 1144, "id": "46f2c32c-f0bb-4dca-8db7-b759091bf78d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "goal", "start_step": 1145, "end_step": 1206, "id": "9a437f7b-16d0-4db0-a331-9fb6f38c2a5e"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "goal", "start_step": 1207, "end_step": 1326, "id": "8113ec26-6f2b-4907-b56b-99873ceed6fb"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 1327, "end_step": 1388, "id": "91f4211c-9bbc-4fc9-82b3-50e362c871cc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1389, "end_step": 1486, "id": "603bf164-518e-4fdb-940e-a88235fea963"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "goal", "start_step": 1487, "end_step": 1556, "id": "c068bd98-7b90-487f-b93d-e20a1e5e79fc"}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1676, "id": "c2f1116d-7254-4eb1-9ee2-e4e6cda08f41"}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1677, "end_step": 1786, "id": "6fd96cd2-57d0-461c-97e8-fc4298025d2e"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1998, "id": "ee541ae7-1141-4a57-97e7-ce869130833b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}, {"label": "home", "start_step": 2076, "end_step": 2100, "id": "KKR9woD3nfYd0O3N2S4BW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}], "episode_index": 12}
+{"source_uid": "e17b1c47813f23ec", "num_frames": 2545, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "3418e3d8-add4-49fa-b606-657bd9935764"}, {"label": "valid", "start_step": 0, "end_step": 2514, "id": "OAl50H_ZFGyoN9J8H6gN3"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 153, "end_step": 410, "id": "67f0ec28-d53d-4413-b600-875c8d364db0"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 411, "end_step": 562, "id": "ceb6b665-9035-4b78-abee-7ba7c1442219"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 563, "end_step": 670, "id": "282f7de0-8cd7-4350-96f6-07e1e3588e57"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "goal", "start_step": 671, "end_step": 860, "id": "705b117e-8991-47d9-afcc-a0a3a8b10892"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 861, "end_step": 990, "id": "30cc8dfb-5898-420e-a8e9-4550be32263a"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1056, "id": "7b137b6b-06b6-4749-a208-4cf22ee30868"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 1057, "end_step": 1190, "id": "b08797aa-802c-4ed1-93f2-1d19fd5c81d9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1191, "end_step": 1262, "id": "f9b26589-f925-413f-9f1c-11322bd2c76c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1263, "end_step": 1416, "id": "de8f0382-304c-403e-a03c-60848974a9e9"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1417, "end_step": 1472, "id": "2894e0f8-0d71-4c7a-85d5-d3f04004d619"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1473, "end_step": 1810, "id": "ebee2a3e-12b9-4cc8-98d4-5507dc925fe2"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 1811, "end_step": 1928, "id": "5f4edd5c-7997-487d-8b9a-d3372edb174f"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2062, "id": "d6734d99-2954-426c-b5b5-21d360ad8924"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "goal", "start_step": 2063, "end_step": 2140, "id": "337c7105-dd6f-49e9-a7f9-15be080f7411"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2141, "end_step": 2250, "id": "6e923a09-3ba5-460a-9840-ca4ef704f901"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "goal", "start_step": 2251, "end_step": 2322, "id": "862b9c16-256f-409a-8f42-3c088082c6b0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "goal", "start_step": 2323, "end_step": 2478, "id": "f8bfe83b-a109-4e56-ace7-27756f873292"}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}, {"label": "home", "start_step": 2515, "end_step": 2544, "id": "3rEPPNpGqre2OZtHAyuvA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}], "episode_index": 13}
+{"source_uid": "c225bf0d2c37c072", "num_frames": 1815, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 100, "id": "f0c855d0-0775-48b3-9db0-eb9a921c8b14"}, {"label": "valid", "start_step": 0, "end_step": 1789, "id": "7Oq6a2sO9OdeRlbcA65lk"}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 101, "end_step": 232, "id": "5c4f64f8-bf70-4fae-b27a-03b3e1594cf4"}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "goal", "start_step": 233, "end_step": 288, "id": "0780092e-2166-41f7-a8e0-7bd56475b0fa"}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 289, "end_step": 422, "id": "71a5ddc3-90d8-4094-b4f7-c36514ae31f4"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 423, "end_step": 470, "id": "e60bef70-7abd-4f95-ba3f-1317fcf21211"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "goal", "start_step": 471, "end_step": 604, "id": "6577f6aa-f2f5-4911-a9f7-7a23d838927f"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 605, "end_step": 660, "id": "fcfcde04-b4fa-4181-aaa7-2d888c3c0f6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "goal", "start_step": 661, "end_step": 830, "id": "c8bfc0c5-f97d-4d7e-a9eb-8ecab6118565"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 831, "end_step": 884, "id": "954e32dd-9562-40e7-a2d9-0ef8163f47fd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 885, "end_step": 1026, "id": "8101c582-c6c2-4420-8e70-ed60b535bd82"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1027, "end_step": 1080, "id": "747fe9bf-6a3b-4aa0-a0f3-0ed1c595e68c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1081, "end_step": 1190, "id": "fd07c187-7db0-474c-9c96-079b0f50594f"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "goal", "start_step": 1191, "end_step": 1254, "id": "8a295e32-efe2-400f-ad04-5b911d7cf6db"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1255, "end_step": 1370, "id": "da89d9d2-c84a-4d4b-93d9-fa5fcc2a76b8"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "goal", "start_step": 1371, "end_step": 1418, "id": "f78f800c-97a4-48c8-a7b4-4883157f9cba"}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "goal", "start_step": 1419, "end_step": 1522, "id": "b5ab06d5-ba64-4757-af8b-842b25e3e9f0"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "goal", "start_step": 1523, "end_step": 1586, "id": "078e03db-f6b9-496b-bfe9-c596141ca168"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1587, "end_step": 1724, "id": "af326aaa-ebce-4e79-98d3-4b647c742266"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}, {"label": "home", "start_step": 1790, "end_step": 1814, "id": "9wN0pf4u-P40m6WcF8UHy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}], "episode_index": 14}
+{"source_uid": "e4354a1737252aee", "num_frames": 1932, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "bfd0accf-0645-4317-970f-8d7bebdecbd9"}, {"label": "valid", "start_step": 0, "end_step": 1899, "id": "TRq6C9f6HSmuuGgr20gUD"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "c8a98558-456f-4fb7-92fa-f62baa20daa4"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 235, "end_step": 306, "id": "46a6d2b4-8b86-42c3-9cb8-268341d704b3"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "goal", "start_step": 307, "end_step": 462, "id": "8df3dee5-d6e5-40b2-933a-1b4ad5352862"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "17317d18-3447-4b77-9fe5-61e171460ba5"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 539, "end_step": 648, "id": "d72c2910-1234-46a4-af04-6899a676d99d"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "goal", "start_step": 649, "end_step": 716, "id": "426f82cb-f97f-4987-aa6e-abc2bc98d5c1"}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 717, "end_step": 916, "id": "dfa7a492-fb18-4c38-966e-41937a7f3b18"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "2f015f11-39d9-46ea-990b-fb46c3df4cd8"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "goal", "start_step": 987, "end_step": 1132, "id": "53a0c5f1-b685-42b2-bfb6-2acfda68dfc7"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1133, "end_step": 1184, "id": "bf00d614-4e7d-45c9-b398-2f2d01e46ed7"}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1185, "end_step": 1294, "id": "ee545787-ce6e-44e1-b15f-cdb9e7ab32ec"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "goal", "start_step": 1295, "end_step": 1354, "id": "ddc49047-e84f-4699-9a52-4158eded5d29"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1355, "end_step": 1484, "id": "75faff01-9b7e-4c82-a14b-a2023324b4e0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1485, "end_step": 1556, "id": "cb84ffb4-4976-4a27-b1b3-9504824538e0"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1670, "id": "57ed1b71-c52e-4906-9a5a-29a2e2f03242"}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "goal", "start_step": 1671, "end_step": 1736, "id": "abfc4a57-7a6d-42f0-b4c6-a59657e3a7ae"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "goal", "start_step": 1737, "end_step": 1856, "id": "ee619492-bb19-4767-8c4c-e13017623d32"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}, {"label": "home", "start_step": 1900, "end_step": 1931, "id": "yB0E6iRyIcR-uRrv62F8W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}], "episode_index": 15}
+{"source_uid": "4292adaba504158c", "num_frames": 2963, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "1b039b2e-faca-4503-a13b-46ac0ff71204"}, {"label": "valid", "start_step": 0, "end_step": 2932, "id": "Qgy-zkYScKUtVBUsTqzAU"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "goal", "start_step": 131, "end_step": 282, "id": "6ef4eef4-9eb1-4005-b617-6fdd1ee5ecd0"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "goal", "start_step": 283, "end_step": 364, "id": "1ee6739f-b83e-462b-81aa-8436ef943b72"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}, {"label": "goal", "start_step": 365, "end_step": 504, "id": "db253cc7-e639-4eef-b045-04c89fb0c9d2"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "goal", "start_step": 505, "end_step": 564, "id": "61536499-f80a-42ad-900a-bf3b04f41ac9"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "goal", "start_step": 565, "end_step": 704, "id": "5c4356c5-b509-4672-b2f9-8e8d892b3775"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 1086, "id": "8033057e-b29c-4741-8a98-13d8a1f43bab"}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "goal", "start_step": 1087, "end_step": 1230, "id": "0418c86d-99ed-46d5-9382-10dcb93e4701"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "goal", "start_step": 1231, "end_step": 1294, "id": "fccd1ef9-8b99-4763-b878-44f6cc1a35e3"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1295, "end_step": 1424, "id": "7e80f14c-d98d-4543-acba-33457c235c35"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "goal", "start_step": 1425, "end_step": 1494, "id": "f1f8f5c2-b022-4ebe-b7d0-903d5be1aefb"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "goal", "start_step": 1495, "end_step": 1628, "id": "e43bbd6c-1a07-43c1-b22a-abc5dfbbdf1f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "goal", "start_step": 1629, "end_step": 1702, "id": "bc5b67bd-c695-4a77-8e2b-580af8eb89f7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1703, "end_step": 1866, "id": "03dcf17b-e99a-49bc-8bf6-32a021957304"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "goal", "start_step": 1867, "end_step": 1930, "id": "e9652ccd-62f4-4c06-8e7a-2140e9e7bee6"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 1931, "end_step": 2056, "id": "ff05c3ab-f66c-450c-b44d-d351599087ea"}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "goal", "start_step": 2057, "end_step": 2114, "id": "6005ed19-03d7-4ff6-8792-611a674f5798"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2922, "id": "db72eeb0-b39a-4c42-9c0b-89ad1c1fc39b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}, {"label": "goal", "start_step": 2923, "end_step": 2924, "id": "cfe0becd-a6d9-45f1-b8d8-25a8b17c660c"}, {"label": "home", "start_step": 2933, "end_step": 2962, "id": "U5EMLS9RG5WKgcFzj618A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}], "episode_index": 16}
+{"source_uid": "fc66befb47b45a2c", "num_frames": 1971, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "985185f6-b872-4cc8-b19d-88f761a34ed6"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QH1YyB6eMy9rlg0ML0M8C"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "goal", "start_step": 121, "end_step": 220, "id": "9d3c1088-7d5b-4510-adf6-46ef46772c98"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "goal", "start_step": 221, "end_step": 282, "id": "3d403445-1c0b-4ff5-85fe-6a8f1168828c"}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "goal", "start_step": 283, "end_step": 486, "id": "3e2165d4-fa23-4dc9-84b9-12198a527fd1"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 487, "end_step": 562, "id": "185cc538-28a5-4a95-8c63-7b445ef8d7a8"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 563, "end_step": 716, "id": "5d11f3e8-1a23-40e8-956a-417d70cafce3"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 717, "end_step": 772, "id": "93e86424-080a-4ad0-b09e-88f3218d31cd"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 773, "end_step": 906, "id": "fa17989e-8a83-43e8-ad7e-053d028f3560"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 907, "end_step": 964, "id": "1a95822a-8702-4d0f-8aa4-d52a4b87385c"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 965, "end_step": 1070, "id": "719be375-ad19-4abe-bb85-6ee6b3b69bf3"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1071, "end_step": 1158, "id": "942035c4-13ec-4ad5-9bae-1ecb68363c54"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1360, "id": "ffb21f7a-63ff-4e17-9d2d-c2bc89739278"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "goal", "start_step": 1361, "end_step": 1410, "id": "850665c3-d5d7-4fb7-befe-2699c9f16c2f"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1516, "id": "9d7bafa1-8b52-4b94-8e0c-5a325fb608c6"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "goal", "start_step": 1517, "end_step": 1574, "id": "c8655ffb-6d42-4f17-8e39-6d22b777bb6a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1575, "end_step": 1700, "id": "566a8033-38b3-4ec6-b2d6-72d148f3105e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "goal", "start_step": 1701, "end_step": 1742, "id": "3b873d0d-2b86-4ce9-8b78-31b4a7bddd65"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1743, "end_step": 1896, "id": "73a00855-d0bb-4fb1-a264-8e91ebb91f17"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}, {"label": "home", "start_step": 1944, "end_step": 1970, "id": "_P6MvtpuGgEpfFKofWf8v"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}], "episode_index": 17}
+{"source_uid": "4f317db5c3f3871b", "num_frames": 2609, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "61843f4c-e9f9-4bda-86bd-15e67fbfa9eb"}, {"label": "valid", "start_step": 0, "end_step": 2583, "id": "hI2A03IkdywYgg5t7bVMl"}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 113, "end_step": 266, "id": "4b24868d-025e-41fc-a27d-fea218be9482"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "goal", "start_step": 267, "end_step": 340, "id": "2d92f3d6-f2dd-46c8-af03-7abc81481c50"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 341, "end_step": 516, "id": "cc866429-b113-4b63-b76f-d69ecf8c975f"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 517, "end_step": 596, "id": "748e8056-890f-4c4a-b448-5f0cd9aac7b1"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 597, "end_step": 760, "id": "cd51c723-3ea7-453f-9ca0-4f5a0bdc32e5"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "goal", "start_step": 761, "end_step": 832, "id": "2a3311d1-c5a8-4b4a-a902-d9c5753174d1"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 833, "end_step": 970, "id": "f3d6b314-946a-4a11-9fd2-9f722580a96a"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 971, "end_step": 1020, "id": "a2262fbe-8b97-4d2d-97fc-5ed1539639e7"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1132, "id": "b8d30e1a-5d8f-4b7c-99dd-708f27b6a25b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "goal", "start_step": 1133, "end_step": 1194, "id": "d39767fb-a88c-42b1-b444-ca4379b8075c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1318, "id": "4942dc8f-4bc4-4579-ab40-4f4aa1184ab8"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1319, "end_step": 1386, "id": "aa99e762-865c-42be-bd4e-d51392b49984"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1387, "end_step": 1492, "id": "a082604c-f167-4eb9-9a46-d3f8becae815"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1493, "end_step": 2056, "id": "42dd5748-3a20-4065-a389-642277e00327"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "goal", "start_step": 2057, "end_step": 2342, "id": "314488ea-6dd3-4539-8797-e58f450ea6e9"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "goal", "start_step": 2343, "end_step": 2430, "id": "250675a3-abb3-45bf-9a72-f23a28f92f36"}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "goal", "start_step": 2431, "end_step": 2556, "id": "58f9c367-6274-40f8-81c6-75a2c786fe47"}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}, {"label": "home", "start_step": 2584, "end_step": 2608, "id": "v1pUQs4jlLUuCzhUUjQCe"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}], "episode_index": 18}
+{"source_uid": "6f4dcfbc6e979c76", "num_frames": 2033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "cca9937c-82fd-41d1-8de9-8da614c67b0e"}, {"label": "valid", "start_step": 0, "end_step": 1998, "id": "0f-HOKC9IGYLM7CA5AE58"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 109, "end_step": 226, "id": "4867fdfd-acc2-4ed7-bbbe-2bd3a05ffc0a"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 227, "end_step": 312, "id": "c24c1952-4fcf-4a9b-bab5-5bf9bcc2c955"}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 313, "end_step": 424, "id": "b37e9b6e-bcc4-4707-8775-4e1486cc49d9"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 425, "end_step": 490, "id": "41fb33c6-eada-4ad3-9b1b-4ee9182b949f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 491, "end_step": 756, "id": "75f9c915-9517-455b-8695-83504a9e1d67"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "goal", "start_step": 757, "end_step": 802, "id": "9f594896-3686-4346-af86-43ec058c60d2"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 900, "id": "b7a60197-6eee-4dd4-860c-22e10761c034"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "2c26d6ca-8afa-4026-9c5d-6d1de31a3a29"}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "goal", "start_step": 971, "end_step": 1092, "id": "8b94aa0f-0cbc-4dd3-a7dc-f43a204a879e"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "goal", "start_step": 1093, "end_step": 1140, "id": "b48e0aba-5206-433f-93af-4650de8a5772"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1141, "end_step": 1252, "id": "c1c49bc4-cc0f-46ad-a094-ec876b8e5e68"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "goal", "start_step": 1253, "end_step": 1312, "id": "701b1454-c7a2-40af-ba43-a04e8dc113cb"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1313, "end_step": 1412, "id": "5472cb55-e0c9-4691-952e-0fd02eb6ad91"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1466, "id": "b482772a-5932-4634-909a-c33f283c4abd"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1467, "end_step": 1678, "id": "d4a20b7e-6929-4952-9560-8d99c5f5a80c"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "goal", "start_step": 1679, "end_step": 1744, "id": "5ffb8d1f-7f75-46be-893c-87264e6855b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "goal", "start_step": 1745, "end_step": 1964, "id": "f05ba2bd-0a6d-4858-bb81-50eda8629aa1"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}, {"label": "home", "start_step": 1999, "end_step": 2032, "id": "aRkOQGE5ytO_W0W6kHy2l"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}], "episode_index": 19}
+{"source_uid": "469e9a3dd61d6228", "num_frames": 2292, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "a3e22b0e-cb61-416a-9beb-88428957c58d"}, {"label": "valid", "start_step": 0, "end_step": 2266, "id": "XK1_IPsGTaP6g-zkNxgmC"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "goal", "start_step": 137, "end_step": 260, "id": "93b23723-9f29-400a-ab07-8548b5447d90"}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "goal", "start_step": 261, "end_step": 468, "id": "1222e61d-c941-41ea-870a-5e10bbb4462f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "goal", "start_step": 469, "end_step": 792, "id": "df3b8f54-6026-4be6-8add-fa9fb99ed897"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "goal", "start_step": 793, "end_step": 854, "id": "06570b99-4b9f-4242-9b15-7ddc1fffe13f"}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 855, "end_step": 1018, "id": "85196f69-d372-4b72-9d46-eb03f486c46b"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "goal", "start_step": 1019, "end_step": 1086, "id": "7e41cf92-1200-437f-9c04-a09ec4fe0130"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "goal", "start_step": 1087, "end_step": 1210, "id": "e78a0177-03c3-45b5-aae4-7306b19008e6"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "goal", "start_step": 1211, "end_step": 1280, "id": "0d931625-04af-40f6-a184-6720e30bed38"}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1281, "end_step": 1406, "id": "96045b20-e6d1-4e28-95b0-7e65065c5f2f"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "goal", "start_step": 1407, "end_step": 1480, "id": "cb81db0e-b6b6-48d6-8fbe-08e60eca19b1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "goal", "start_step": 1481, "end_step": 1598, "id": "ddb94c65-c9b1-45f1-a413-7edeae8f659b"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "goal", "start_step": 1599, "end_step": 1700, "id": "f762194f-c8fd-4eb6-8f3e-2f1c7d265be5"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1701, "end_step": 1818, "id": "198215d4-f737-4360-8990-3237a912cd49"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "goal", "start_step": 1819, "end_step": 1888, "id": "15d2ff92-e54b-4862-8771-3a94458a172b"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 1889, "end_step": 2040, "id": "61e69085-9375-44f5-952c-d3f498006f0b"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2106, "id": "89d9c8ea-1837-4a25-84e5-911e10b8383d"}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "goal", "start_step": 2107, "end_step": 2226, "id": "bf649c8e-65df-47fd-b5e7-69798a97fc2a"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}, {"label": "home", "start_step": 2267, "end_step": 2291, "id": "_7ApxkwjKID-cTyoybZ_J"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}], "episode_index": 20}
+{"source_uid": "a9b9fd4680a65d27", "num_frames": 1757, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "9b55c267-8d9e-4b6d-ba6a-d90e4813a25e"}, {"label": "valid", "start_step": 0, "end_step": 1729, "id": "vCcpSJEFrfhy8rVQrvZo8"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 147, "end_step": 262, "id": "86035d0f-cb73-4426-bece-e8c52d3bfbb0"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "goal", "start_step": 263, "end_step": 348, "id": "af59be67-dcf5-4a7f-bb49-18009534776c"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "goal", "start_step": 349, "end_step": 460, "id": "8cfddc79-b7e3-457d-b3ba-65d9d04ad23e"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 461, "end_step": 518, "id": "dcf3c970-a6eb-47b2-8d19-5f20caf9f037"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "goal", "start_step": 519, "end_step": 632, "id": "9ff3166b-ae28-4b7d-80ed-fd15efe2c401"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "goal", "start_step": 633, "end_step": 706, "id": "0414c211-c85b-4107-85c0-bcc8b7ac83fa"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 707, "end_step": 850, "id": "8de7f656-55db-463b-a574-cbfd9bf6fc04"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 904, "id": "c3f68376-2a4e-41a1-ab7b-caa1a39ab0dc"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 905, "end_step": 1000, "id": "433758c0-5447-4dc3-aa3a-878f60614baa"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "goal", "start_step": 1001, "end_step": 1092, "id": "321bbf43-5615-4d76-86a4-57cb05540025"}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "goal", "start_step": 1093, "end_step": 1194, "id": "0fedf178-0727-4cb1-af37-1cf107db5a36"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1195, "end_step": 1260, "id": "195936b8-f81b-41ba-b14e-e168e3adfbd5"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "goal", "start_step": 1261, "end_step": 1344, "id": "5c8b68da-9809-4d09-9012-8d55fa638982"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "goal", "start_step": 1345, "end_step": 1410, "id": "653efcea-8d9e-4ea9-9f4b-7defe79322f3"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1540, "id": "28c10c9d-950f-4d57-b0f9-acd0bad82df7"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "goal", "start_step": 1541, "end_step": 1590, "id": "32d382e8-e6eb-4d54-afd3-ca8e1e3f1d4e"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1696, "id": "963ac31b-06c3-4ce1-8de7-8275a42e4316"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}, {"label": "home", "start_step": 1730, "end_step": 1756, "id": "_7mg_lBoUN7bYmNbRkioZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}], "episode_index": 21}
+{"source_uid": "141c1a9d788c8e61", "num_frames": 1939, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "11155cd0-43f7-440b-9109-5a3e874c0943"}, {"label": "valid", "start_step": 0, "end_step": 1912, "id": "9E_aawtHtUKTdvkRWByGK"}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "7c09e676-c2ae-40fb-916d-c573d83a4b0e"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 235, "end_step": 348, "id": "6c5f3ed9-f575-4a3b-8227-a9eff62a4eda"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 349, "end_step": 464, "id": "694edf89-5849-447a-b665-a524f3b96f64"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "goal", "start_step": 465, "end_step": 558, "id": "70dc6c8d-4aa6-4d3f-a932-f7e2b8b6a8a3"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 559, "end_step": 680, "id": "3b6c87c6-6435-4080-bab8-4a92ca2bd599"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 681, "end_step": 744, "id": "37b3b877-3952-4ae5-a89d-e17f3cc1c17d"}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 745, "end_step": 852, "id": "e6f243a6-f166-482b-841c-57b52fbe8a07"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 853, "end_step": 896, "id": "e9acfbc1-7158-45eb-9a44-795f39164ff8"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "goal", "start_step": 897, "end_step": 1056, "id": "8ad65530-d9ab-4fc2-a836-94f9505bfdef"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1057, "end_step": 1114, "id": "06c404ac-02bb-41e6-a6b1-24a709531e6a"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "goal", "start_step": 1115, "end_step": 1306, "id": "4a3ff4d5-d341-4ff4-9533-14378a70f8d7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1307, "end_step": 1358, "id": "887a0672-0769-464e-b852-8617579c4eda"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1359, "end_step": 1492, "id": "c1ba7447-e0f9-4975-babf-03515709be02"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1493, "end_step": 1556, "id": "95373def-71f2-4d72-83a5-0aaa90aa981f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1557, "end_step": 1696, "id": "8448c4dd-2b08-4895-81d1-e8324cb0eb8f"}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "goal", "start_step": 1697, "end_step": 1748, "id": "bfa376d8-f080-4a38-8da3-b96b2dccc0cd"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "goal", "start_step": 1749, "end_step": 1868, "id": "a5e1ae10-59e6-4f1d-bf78-57ab39082891"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}, {"label": "home", "start_step": 1913, "end_step": 1938, "id": "LGM3BKm4eMNwcC4UTyxJv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}], "episode_index": 22}
+{"source_uid": "515f12b1853a7bd8", "num_frames": 2474, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "392eea6c-3004-4a34-bed5-7b70f266898b"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "OC5yl0xC-HGKcxJRQbCyP"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "goal", "start_step": 123, "end_step": 246, "id": "fc4da57b-6824-47eb-af5d-ebf9864ae2fb"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "goal", "start_step": 247, "end_step": 316, "id": "30b3e0f0-a933-4b8a-b837-5805744fb7f9"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 317, "end_step": 558, "id": "bffb1bcd-5b56-411a-8edc-337d819144a3"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "goal", "start_step": 559, "end_step": 636, "id": "02a54f35-748a-4a7d-aa1e-1835d891418d"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "goal", "start_step": 637, "end_step": 768, "id": "3c8ba00f-9b09-4c09-8a47-5f3b7b1f7e30"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "goal", "start_step": 769, "end_step": 846, "id": "01322a23-5f66-4de4-8cb8-05561f687a9a"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "goal", "start_step": 847, "end_step": 948, "id": "0ea62248-c021-40af-be0b-7bf10a8d6e4b"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "goal", "start_step": 949, "end_step": 1028, "id": "8b94725f-35b9-4395-8778-7bcdbac267b8"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "goal", "start_step": 1029, "end_step": 1150, "id": "bdc3359b-eaea-4ad7-aa6e-48a3fd035181"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1151, "end_step": 1284, "id": "15a8513e-158d-4e6b-965f-d8b68f691669"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1444, "id": "f24023dd-7d50-4231-83ce-89dde116943a"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "goal", "start_step": 1445, "end_step": 1506, "id": "cbb4df6d-cd2c-4dae-a9b7-ac93f45b09a4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "goal", "start_step": 1507, "end_step": 1620, "id": "6d1b12e1-e376-4ace-906b-dcdebb20e9d0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "goal", "start_step": 1621, "end_step": 1694, "id": "90d63c84-2be4-4e0a-a135-f00232456605"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "goal", "start_step": 1695, "end_step": 1948, "id": "29b27d3d-64d3-4ebd-982f-df90f0f2cd24"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "goal", "start_step": 1949, "end_step": 2018, "id": "602a6531-f2b5-44b5-85aa-434bbe03630a"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "goal", "start_step": 2019, "end_step": 2402, "id": "3085615b-a0d1-44be-a6bf-9e528d500aee"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}, {"label": "home", "start_step": 2445, "end_step": 2473, "id": "bTI7bEZ8s_Saj6l3i2BO7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}], "episode_index": 23}
+{"source_uid": "964ac1a036dcc889", "num_frames": 2046, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "5c74fd8d-00ad-47f0-b546-05e90572d946"}, {"label": "valid", "start_step": 0, "end_step": 2017, "id": "Eumst9BNl7lX4Y8OI9LeM"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 125, "end_step": 348, "id": "90480648-b137-41d6-8dbf-613b02ccc128"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "goal", "start_step": 349, "end_step": 472, "id": "c6e3022a-b3f3-4929-8900-5028badb78c5"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 473, "end_step": 600, "id": "84b827f7-a299-422c-be86-67bbc6481073"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "goal", "start_step": 601, "end_step": 676, "id": "b009b10d-cb55-4ebb-8def-7935a6a08b58"}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 677, "end_step": 872, "id": "457d7c20-46b8-4e53-a9e8-d50a046b73eb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 873, "end_step": 914, "id": "93cb5201-c3aa-4fed-a3e4-79775d668861"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 915, "end_step": 1006, "id": "7f1b6ac9-3e55-43fb-b37d-8f7927054d80"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "goal", "start_step": 1007, "end_step": 1080, "id": "1a24c32d-0ec4-4e99-8ec8-967c1b92ec4b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1081, "end_step": 1198, "id": "18796abd-7cc7-4d9b-8e76-c251182f94cf"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 1199, "end_step": 1256, "id": "012f12f5-ddd1-417b-b79d-ed6b33024309"}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1257, "end_step": 1398, "id": "32a4ff6f-ca8b-4362-86cf-4dea1f574b7f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "goal", "start_step": 1399, "end_step": 1446, "id": "eaa84871-e566-4ebe-b2df-bb7a4ba38b1e"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1447, "end_step": 1570, "id": "e520af18-fc96-4701-8766-38ff1d5dced6"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1571, "end_step": 1608, "id": "8d92d2f8-7ba2-4968-8485-398a8292716e"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "goal", "start_step": 1609, "end_step": 1778, "id": "44a1d52d-d11d-4122-9e54-4eae29a3148e"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "goal", "start_step": 1779, "end_step": 1828, "id": "806225da-b927-449c-900c-515c01e82c04"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1829, "end_step": 1954, "id": "0042ceea-3830-49e7-9ae2-dc77003f7c31"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}, {"label": "home", "start_step": 2018, "end_step": 2045, "id": "WT2NHqPAHB8rrpFHQM6Ju"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}], "episode_index": 24}
+{"source_uid": "fe809daf4e3e0783", "num_frames": 1786, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "3c71740c-21fe-4559-bcc8-3cce2b4e2bab"}, {"label": "valid", "start_step": 0, "end_step": 1762, "id": "mOA_d6oqwwVcFQXxX_r7d"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 123, "end_step": 284, "id": "f80e0c73-5861-4125-8c0a-4fd2aabb6990"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 285, "end_step": 344, "id": "330e302a-cfa1-4c23-939c-db8f497e51f3"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 345, "end_step": 486, "id": "a0078746-d656-4b77-8ead-e563fa367786"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 487, "end_step": 548, "id": "ed0829ab-ca1c-460c-a0aa-a90578d68761"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 549, "end_step": 664, "id": "b2cd6373-f387-4302-9feb-fa5b5fdc4d53"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "goal", "start_step": 665, "end_step": 736, "id": "94f31179-28c2-436d-8f8e-686983328ac7"}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 737, "end_step": 860, "id": "8acf781a-325a-4769-8f1a-83dbcc9686ea"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "goal", "start_step": 861, "end_step": 912, "id": "121ebd2b-f588-4d0e-ad3c-70a74520f679"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "goal", "start_step": 913, "end_step": 1032, "id": "ed067487-bcd1-49d5-b6bb-206607201b79"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1033, "end_step": 1098, "id": "b982152a-5cac-4780-bb33-a457c78a54aa"}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "goal", "start_step": 1099, "end_step": 1250, "id": "c0d38af2-4482-4b3b-9cd0-bc97cf6f9e97"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1251, "end_step": 1288, "id": "13c5e3f9-ac39-48da-80f1-6dfc83c3737f"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1289, "end_step": 1376, "id": "9db98774-6f9a-4d66-9c90-96e91bc37705"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1377, "end_step": 1434, "id": "904aecb4-2152-430b-b35c-0c9019f01430"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1528, "id": "bc0a665b-1073-443a-8f32-623b1403d186"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1529, "end_step": 1596, "id": "ce27f125-2d57-4f41-8bba-31fc977c156c"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "goal", "start_step": 1597, "end_step": 1736, "id": "365f6aa9-0a6f-4a01-9b86-500794515c58"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}, {"label": "home", "start_step": 1763, "end_step": 1785, "id": "sMOFrT01trItdJsDjg-gb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}], "episode_index": 25}
+{"source_uid": "f286398675279a53", "num_frames": 2010, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "04dd5732-4ad7-4007-aaf0-79b33a4ca318"}, {"label": "valid", "start_step": 0, "end_step": 1987, "id": "HMhcrv5WsQjWopqzEicIE"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "goal", "start_step": 133, "end_step": 258, "id": "7cc3a3eb-0f9c-4865-bbd3-f6d3a86c0163"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "goal", "start_step": 259, "end_step": 314, "id": "f7368a8f-24de-426a-b3f4-fa49b3bfab36"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "goal", "start_step": 315, "end_step": 438, "id": "9b30b526-a3fc-410b-abfe-db547918b47d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "goal", "start_step": 439, "end_step": 500, "id": "6f7e2957-a679-48fb-b14d-b11c5eb49ec7"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 501, "end_step": 604, "id": "9b6928d8-6074-41e7-81e3-0f107cacb026"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "goal", "start_step": 605, "end_step": 686, "id": "9fcdf615-57b4-449d-9368-7d69b7eb71ec"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 687, "end_step": 812, "id": "4a20f5ab-a8a8-41be-b2fe-c4ea6802880a"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 813, "end_step": 872, "id": "e2c17de9-a5b9-4ff0-94bb-06629ef22a73"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 873, "end_step": 1000, "id": "9f867883-903d-4163-9e85-8ad54e235bba"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "c1de2a9d-6f4e-428b-9335-f4c823d46db6"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "goal", "start_step": 1077, "end_step": 1274, "id": "852f04b9-1302-4706-8d38-792acd91c92d"}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "goal", "start_step": 1275, "end_step": 1332, "id": "415cec86-9e68-4a58-86e4-c40afe7fde63"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "goal", "start_step": 1333, "end_step": 1494, "id": "1c43385b-0578-4b37-a02d-e7bf37331538"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 1495, "end_step": 1550, "id": "faee1a49-f5d6-459a-80d1-9becc63b0534"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1551, "end_step": 1706, "id": "8a04ed0f-34fd-4333-8017-55c41bc98d9d"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "goal", "start_step": 1707, "end_step": 1776, "id": "cd30a8c2-9863-4810-9dc5-8bc683505203"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "goal", "start_step": 1777, "end_step": 1952, "id": "a7f40192-edfd-4001-85a0-68a00b02c13d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}, {"label": "home", "start_step": 1988, "end_step": 2009, "id": "2_199ngJ4RVC7yUX91efs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}], "episode_index": 26}
+{"source_uid": "9c4087463103f438", "num_frames": 1892, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 121, "id": "6e993591-6e50-4dd7-96a3-f6070f9d4849"}, {"label": "valid", "start_step": 0, "end_step": 1861, "id": "yf9MjQquG6-fSq0m7_aGU"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 122, "end_step": 289, "id": "239c4866-dd93-4e58-9267-2f64dba1d41f"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "goal", "start_step": 290, "end_step": 353, "id": "c06b3b34-d852-459b-9d44-0514215a118a"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 354, "end_step": 485, "id": "d08e318b-06c2-49ce-9b16-f2755714d2f9"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "goal", "start_step": 486, "end_step": 549, "id": "e2d8d0db-7ae2-4cc5-9a84-1715a920c4ea"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "goal", "start_step": 550, "end_step": 735, "id": "65621c09-4250-4143-9427-b0f54b2439ba"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "goal", "start_step": 736, "end_step": 819, "id": "249bf3e9-89d1-4b92-8a47-bece4dd23c64"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 820, "end_step": 945, "id": "90cc4dfd-f578-4550-b967-ba08b9dd41a1"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 946, "end_step": 1003, "id": "c2764614-7417-452f-820c-29266f05e8cc"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1004, "end_step": 1097, "id": "5706b358-93b9-48aa-955a-a2b7695853de"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "goal", "start_step": 1098, "end_step": 1165, "id": "f9fdb436-5e6f-48ea-9ad0-957e052238f5"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1166, "end_step": 1257, "id": "603e6812-1a91-4b7e-9040-0197bbbe9935"}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1258, "end_step": 1319, "id": "e0bb320d-0fcc-40ef-a3a0-558bb45fba2b"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1320, "end_step": 1455, "id": "960a9fdb-8179-4bb6-9486-b6d644c549e2"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "goal", "start_step": 1456, "end_step": 1531, "id": "964174c1-51fe-490a-b281-443328c3fd26"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1532, "end_step": 1633, "id": "09aa3095-efee-4359-ad37-a073abf38e83"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1634, "end_step": 1701, "id": "bd854497-2d82-45d7-8541-972816b5f3ff"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1702, "end_step": 1817, "id": "b12ac01c-5fd9-4e60-9c8c-95a29f4b8222"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 1862, "end_step": 1891, "id": "cFDI1PHZM3wAldU2NvaJd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}], "episode_index": 27}
+{"source_uid": "a7f1df29b8f34c54", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "07acfadd-8428-4a79-8b3e-4dc4eea518da"}, {"label": "valid", "start_step": 0, "end_step": 1944, "id": "hPb1UMpSyrpVHYUSMhDZ_"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "goal", "start_step": 131, "end_step": 242, "id": "b20a8dd7-3b2d-47d6-ba59-f58e4c77418b"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 243, "end_step": 330, "id": "11cf02e4-d14e-480a-a3a7-9d30ce2f7733"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 331, "end_step": 502, "id": "3a40ede3-f251-4ec4-876a-e78efd82f43c"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "b116090f-8670-4fdd-8d68-99ade39d52e7"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 577, "end_step": 704, "id": "78262289-fa8c-4252-9d12-50fd595d2138"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 778, "id": "ea357a5f-693c-4e37-95c0-c633dad9b228"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 779, "end_step": 870, "id": "b8917b1d-8440-4dca-90c9-031e8bc0b777"}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 871, "end_step": 932, "id": "cb43c323-4f76-4fe7-a977-f9e901c36ecb"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 933, "end_step": 1038, "id": "d2e5958f-1cf9-40aa-a13b-c1976e789511"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1039, "end_step": 1090, "id": "054a0c5b-acc4-40bc-b249-e448756877ae"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 1091, "end_step": 1216, "id": "e455d7b6-9d72-4334-9094-bae7fec6893c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "goal", "start_step": 1217, "end_step": 1266, "id": "a1a0a875-f7f6-4f18-a934-9bbfe529f1cc"}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1267, "end_step": 1408, "id": "d309c4c0-943f-4390-9bad-672e4feb5aca"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 1409, "end_step": 1598, "id": "b2141ef8-a08c-41db-875f-0d78f4e2e874"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1599, "end_step": 1728, "id": "c293b15b-5a79-4e2b-9aa4-c3ec46c3d4e7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "goal", "start_step": 1729, "end_step": 1776, "id": "6dc527a2-3bda-441b-9f34-7a88d44d4bd5"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1777, "end_step": 1900, "id": "ceb146df-7b90-4474-98fb-5efc411a85ee"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}, {"label": "home", "start_step": 1945, "end_step": 1968, "id": "mjyqiUStq6YelPQRdSO0W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}], "episode_index": 28}
+{"source_uid": "c4ed661951693d2e", "num_frames": 2259, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 324, "id": "37972cf4-7e8e-4bcd-8538-9a377a7c3ea0"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "YwRH9HK7Rm932yD2J2z48"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "goal", "start_step": 325, "end_step": 666, "id": "ad274156-dad9-4eb9-ae75-eb99d6b8da97"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "goal", "start_step": 667, "end_step": 768, "id": "7d16c7b2-5356-4118-86b2-daa85d18d8f3"}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "goal", "start_step": 769, "end_step": 876, "id": "5d123ad5-50ae-4e16-8b49-54596eaeedb7"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "goal", "start_step": 877, "end_step": 958, "id": "1aa9029a-6578-4a54-9449-8adcb474a493"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 959, "end_step": 1104, "id": "46ae778e-af7f-4ff8-820a-3fdf9118290f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "goal", "start_step": 1105, "end_step": 1170, "id": "fb688db9-cbe1-435c-a2a8-c3b219c8dc92"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "goal", "start_step": 1171, "end_step": 1288, "id": "8bfabe8c-cf4e-4b3b-977b-e19d93b7b927"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "goal", "start_step": 1289, "end_step": 1340, "id": "79b04508-eb94-423e-86f2-11259123684b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1341, "end_step": 1446, "id": "f59e5dac-75c2-4e81-af65-f0b3879526b4"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "goal", "start_step": 1447, "end_step": 1506, "id": "898b547c-de6a-4f84-b48a-11280b964211"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 1507, "end_step": 1636, "id": "b9ed122c-e784-443d-b508-18f01ab5383b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "goal", "start_step": 1637, "end_step": 1708, "id": "147884d2-7a1b-4e59-8cc8-7738aed327ab"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "goal", "start_step": 1709, "end_step": 1806, "id": "25464905-c96a-4766-b859-b6ab120d0d15"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "goal", "start_step": 1807, "end_step": 1862, "id": "4e27d0a6-89e5-4707-9676-f68a1f65d51e"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1863, "end_step": 2004, "id": "7f1c4de7-75ce-4be0-a53d-b4b92bc07fc9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "goal", "start_step": 2005, "end_step": 2068, "id": "ee808080-f145-449c-9641-70f6897929df"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "goal", "start_step": 2069, "end_step": 2196, "id": "478083ab-f944-42c5-b9a9-32a04e6e518b"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}, {"label": "home", "start_step": 2241, "end_step": 2258, "id": "Ov-vYgvxUo-fMWIOs2TNC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}], "episode_index": 29}
+{"source_uid": "1585dca8f71d088a", "num_frames": 1949, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "b35a919c-c605-4eba-9f31-3f4fdc4a5a98"}, {"label": "valid", "start_step": 0, "end_step": 1922, "id": "sbSNz_AYPfHqSlE9iIDba"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 236, "id": "b8973121-6ae7-47e0-b0aa-af77e90c4943"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 237, "end_step": 304, "id": "59b38ccb-d269-4be3-9e0a-6e183549a9e6"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 305, "end_step": 422, "id": "f42432bd-ee77-4fa4-a0aa-8c460bd6c303"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "goal", "start_step": 423, "end_step": 492, "id": "f5b82f3d-1616-45cb-9449-2eb61d334ba3"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "goal", "start_step": 493, "end_step": 618, "id": "352e53ce-9049-4171-b64a-fdfc2e539abf"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "goal", "start_step": 619, "end_step": 704, "id": "5e96fe99-030d-419e-b475-81a792b0fda8"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 880, "id": "8deb6afc-79d4-48b3-a2c9-e655f1d13269"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 881, "end_step": 956, "id": "e4426b18-c5f8-45cf-8416-ff2e49f1c27e"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 957, "end_step": 1106, "id": "877e2d82-755a-4fa4-9f8f-50b2e51b5501"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1107, "end_step": 1183, "id": "61cebb38-035c-42a1-9abc-8cff4c2c15dd"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1184, "end_step": 1299, "id": "e18aa357-df2f-4c26-b619-9ac4826ee4cf"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1300, "end_step": 1415, "id": "b988afde-a7be-4e30-8521-64b4d81fb969"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "goal", "start_step": 1416, "end_step": 1541, "id": "5fced312-ce71-4180-91c4-cab5f9dea640"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "goal", "start_step": 1542, "end_step": 1607, "id": "3ae871e9-1f66-4905-97b8-23ca651aa6bb"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1608, "end_step": 1689, "id": "e93c6b3f-dfc1-48f9-8ea5-db4ec16501f9"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "goal", "start_step": 1690, "end_step": 1763, "id": "a6bbee33-ea11-4594-ad82-1d3f95f043f6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "goal", "start_step": 1764, "end_step": 1899, "id": "9d6495c1-b25a-43ad-bee1-ad74896673b5"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 1923, "end_step": 1948, "id": "-x3rI6NuoE1pTFnpI9xA0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}], "episode_index": 30}
+{"source_uid": "facf5c89374de42d", "num_frames": 2220, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "35320456-897e-4ac3-8fff-38d1dadac1a6"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "zasdL3PPhTs3E6Kixfjnt"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 137, "end_step": 234, "id": "c2863eb3-d32e-4d88-92e5-841c364513ff"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "goal", "start_step": 235, "end_step": 310, "id": "eeb6ab5c-11c6-473f-a6ad-aa88e53c495b"}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 311, "end_step": 466, "id": "855b5d3d-13a7-4a8c-9ab3-33353ed85f62"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 467, "end_step": 540, "id": "6167a6a3-3146-481c-8dec-93e8a2a2dae9"}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 541, "end_step": 640, "id": "cb370230-797f-4c3b-bc23-a63e8f3d6e77"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 730, "id": "4631eecf-3592-4331-86a6-9bbaf8df961a"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "goal", "start_step": 731, "end_step": 840, "id": "54287a62-16e1-49a4-bb6c-0542436301aa"}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 892, "id": "df87e4b8-2bb8-4f71-9327-d1e87928adb7"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 893, "end_step": 996, "id": "8bfe4faa-7cb3-4d20-b34a-30898e4a0c47"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "goal", "start_step": 997, "end_step": 1064, "id": "7b43661f-77aa-4fae-b7e7-38030c0dd6b2"}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 1065, "end_step": 1224, "id": "a9687224-4dca-4ac7-95b0-4dc3114ee1bc"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "goal", "start_step": 1225, "end_step": 1278, "id": "8a011638-6c91-407a-8575-c10b666326d6"}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1279, "end_step": 1372, "id": "0c0c4a2d-f2cf-4f63-aea0-97970256dfd6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1373, "end_step": 1431, "id": "6c67ec6b-21a4-417d-ab63-e8a87942ef03"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1432, "end_step": 1569, "id": "6cb3473b-2ee6-4d96-9d54-81f67d24c1ab"}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "goal", "start_step": 1570, "end_step": 1624, "id": "66731be8-dd71-4944-a881-8e2bf419a8af"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "goal", "start_step": 1625, "end_step": 2194, "id": "8557d868-09d2-435c-8088-8433407604da"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}, {"label": "home", "start_step": 2194, "end_step": 2219, "id": "sCbYzoWea0_cVpZQYt-5f"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}], "episode_index": 31}
+{"source_uid": "a81d9a09ad318444", "num_frames": 2264, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0e7d700d-fc25-4775-a82c-0ae87e3382ae"}, {"label": "valid", "start_step": 0, "end_step": 2233, "id": "14Uvrqgnxotdtd0OIZLc1"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "goal", "start_step": 127, "end_step": 246, "id": "9749b927-780c-4a71-884e-8830dd2d190b"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "goal", "start_step": 247, "end_step": 315, "id": "c1d866c7-2194-40be-9d21-2e8400ee77a7"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "goal", "start_step": 316, "end_step": 429, "id": "fbadcab6-9199-46de-b39e-f4add02efda7"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "goal", "start_step": 430, "end_step": 513, "id": "3c3aa968-6839-42d2-ae74-407ffbd48a16"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "goal", "start_step": 514, "end_step": 677, "id": "eab606b1-eda2-4d21-a784-7a020f052f8b"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 678, "end_step": 761, "id": "93443bd6-c65c-4763-a7b9-71818babe097"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 762, "end_step": 899, "id": "bb93025e-b652-4089-921f-a990fc0c9e6b"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "goal", "start_step": 900, "end_step": 971, "id": "3e658616-e8c7-40a5-a5e6-8d85006164cc"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "goal", "start_step": 972, "end_step": 1273, "id": "60f807cd-97b8-4ab8-8b2a-d31deeafab75"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "goal", "start_step": 1274, "end_step": 1391, "id": "235e4abf-dd76-45c7-89f5-280004ab5a9b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1392, "end_step": 1551, "id": "41f23f46-c519-438c-9a4b-4ea63a9d9625"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "goal", "start_step": 1552, "end_step": 1633, "id": "56e9dbae-e3d9-4c24-8800-e475563f4d96"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "goal", "start_step": 1634, "end_step": 1805, "id": "0c40e1d8-b408-4b3a-b7fe-6f2af283ab93"}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1806, "end_step": 1873, "id": "2510535b-76cb-47a7-b243-08941e3a9792"}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1874, "end_step": 1981, "id": "9e5596b7-7bb1-469f-8523-958650c8fd8d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "goal", "start_step": 1982, "end_step": 2039, "id": "58c26b65-65ba-4b40-980a-e1f70dc282d0"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "goal", "start_step": 2040, "end_step": 2189, "id": "6c944342-c230-4f72-9230-39a055d55747"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}, {"label": "home", "start_step": 2234, "end_step": 2263, "id": "bwu4D_s0QRdr6OqLL-ksn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}], "episode_index": 32}
+{"source_uid": "9fe0c612ffba510d", "num_frames": 1877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "0caf0f9c-bf0f-4326-b484-ca01b01aa5a8"}, {"label": "valid", "start_step": 0, "end_step": 1851, "id": "ljqE97Fmr-zznKtXzNyfR"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "6f17c396-5f43-4bcd-baaa-cf8a962fa445"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 235, "end_step": 302, "id": "bb3561ff-c204-479c-9302-e0949e834a88"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 303, "end_step": 426, "id": "5c01c44a-8be1-4b36-8580-05e80069e3f5"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 427, "end_step": 480, "id": "c7138101-b320-422d-a134-734a1f6e8089"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 602, "id": "5ec9fc9b-81f0-4a34-b31d-e7c8d2556eb6"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 603, "end_step": 680, "id": "da243573-c8ef-489b-8bb3-2d24da1b8a54"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "goal", "start_step": 681, "end_step": 784, "id": "97784acc-3fe8-4609-b2fb-1eb37e3fcc33"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "goal", "start_step": 785, "end_step": 882, "id": "c23e639e-9f4e-4ebe-887d-780d9c6a2a75"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "goal", "start_step": 883, "end_step": 1000, "id": "03187d51-592e-4d09-9afb-9707b27a917a"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "a7766855-2809-4df4-acf1-45901cd59138"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1077, "end_step": 1218, "id": "1fb096cf-a109-45d2-81f1-261744d33960"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 1219, "end_step": 1294, "id": "368a831d-cbfa-4b90-9071-e8f36c510b58"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1295, "end_step": 1394, "id": "d392811e-8fca-4276-ac10-826454339be5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "goal", "start_step": 1395, "end_step": 1496, "id": "b3eb556f-f83d-4c91-8908-88144b660784"}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "goal", "start_step": 1497, "end_step": 1626, "id": "8612754d-f58e-4671-b418-e198f36c5cba"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "goal", "start_step": 1627, "end_step": 1680, "id": "de566b7a-1fc1-4948-9a64-b91b45fdd35c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "goal", "start_step": 1681, "end_step": 1818, "id": "30c693d9-8509-43ef-b41e-7a787ed57944"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}, {"label": "home", "start_step": 1852, "end_step": 1876, "id": "2_iXm2YqTxKWH8eZVkzUY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}], "episode_index": 33}
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hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1694, "end_step": 1771, "id": "9ec99aaa-0b51-49bf-a0ff-41e18b4dd363"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": 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set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "home", "start_step": 2183, "end_step": 2208, "id": "nZP1FxulmR1jn4et0Zrv0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building 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transport: Right hand transports the green block to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block 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white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 442, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 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"reasoning-language-00029", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the left side of the wooden 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grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}], "episode_index": 34}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aae707606a681924dde2b668212b24a818eb5b83
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,35 @@
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a93168602cb17d7c659bcda8115491a71ebfed97
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
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[[[0.03193960338830948]], [[0.03193960338830948]], [[0.03193960338830948]]], "count": [2209]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4866793155670166]], [[0.4866793155670166]], [[0.4866793155670166]]], "std": [[[0.21884870529174805]], [[0.21884870529174805]], [[0.21884870529174805]]], "count": [2209]}}}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..24b00e912597ee8dde5e2d9060dbba0a4fa38c12
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 35,
+    "total_frames": 76517,
+    "total_tasks": 1,
+    "total_videos": 210,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:35"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3b714b355c658603ec3b98b016da412bb4aaa6a8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,1841 @@
+{"subtask_index": 0, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}
+{"subtask_index": 63, "subtask": "Task: TicTacToe"}
+{"subtask_index": 64, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and fits it onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block located on the black tabletop."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table next to the wooden base."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}
+{"subtask_index": 165, "subtask": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}
+{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}
+{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}
+{"subtask_index": 217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}
+{"subtask_index": 224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}
+{"subtask_index": 327, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}
+{"subtask_index": 495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}
+{"subtask_index": 501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}
+{"subtask_index": 505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}
+{"subtask_index": 511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block upward toward the target peg on the wooden peg board."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}
+{"subtask_index": 513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal ring on the table."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}
+{"subtask_index": 518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}
+{"subtask_index": 525, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}
+{"subtask_index": 534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}
+{"subtask_index": 542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}
+{"subtask_index": 545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}
+{"subtask_index": 546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}
+{"subtask_index": 555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}
+{"subtask_index": 560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}
+{"subtask_index": 565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}
+{"subtask_index": 566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}
+{"subtask_index": 575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}
+{"subtask_index": 576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}
+{"subtask_index": 579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}
+{"subtask_index": 581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}
+{"subtask_index": 595, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}
+{"subtask_index": 606, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}
+{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}
+{"subtask_index": 828, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}
+{"subtask_index": 829, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}
+{"subtask_index": 830, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}
+{"subtask_index": 831, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}
+{"subtask_index": 832, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}
+{"subtask_index": 833, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}
+{"subtask_index": 834, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}
+{"subtask_index": 835, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}
+{"subtask_index": 836, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}
+{"subtask_index": 837, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}
+{"subtask_index": 838, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}
+{"subtask_index": 839, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}
+{"subtask_index": 840, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}
+{"subtask_index": 841, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}
+{"subtask_index": 842, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}
+{"subtask_index": 843, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}
+{"subtask_index": 844, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}
+{"subtask_index": 845, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}
+{"subtask_index": 846, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}
+{"subtask_index": 847, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}
+{"subtask_index": 848, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}
+{"subtask_index": 849, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}
+{"subtask_index": 850, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}
+{"subtask_index": 851, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}
+{"subtask_index": 852, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}
+{"subtask_index": 853, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}
+{"subtask_index": 854, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}
+{"subtask_index": 855, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}
+{"subtask_index": 856, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}
+{"subtask_index": 857, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}
+{"subtask_index": 858, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}
+{"subtask_index": 859, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}
+{"subtask_index": 860, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}
+{"subtask_index": 861, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}
+{"subtask_index": 862, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}
+{"subtask_index": 863, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}
+{"subtask_index": 864, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}
+{"subtask_index": 865, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}
+{"subtask_index": 866, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}
+{"subtask_index": 867, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}
+{"subtask_index": 868, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}
+{"subtask_index": 869, "subtask": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}
+{"subtask_index": 870, "subtask": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}
+{"subtask_index": 872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}
+{"subtask_index": 874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}
+{"subtask_index": 879, "subtask": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}
+{"subtask_index": 883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}
+{"subtask_index": 885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}
+{"subtask_index": 886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}
+{"subtask_index": 887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}
+{"subtask_index": 897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}
+{"subtask_index": 904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}
+{"subtask_index": 909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}
+{"subtask_index": 910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}
+{"subtask_index": 911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}
+{"subtask_index": 932, "subtask": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}
+{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}
+{"subtask_index": 946, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 994, "subtask": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}
+{"subtask_index": 1016, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1020, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}
+{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}
+{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}
+{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}
+{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}
+{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}
+{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}
+{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}
+{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}
+{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}
+{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}
+{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}
+{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}
+{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}
+{"subtask_index": 1077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}
+{"subtask_index": 1079, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}
+{"subtask_index": 1099, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}
+{"subtask_index": 1100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}
+{"subtask_index": 1105, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}
+{"subtask_index": 1122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}
+{"subtask_index": 1127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}
+{"subtask_index": 1129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}
+{"subtask_index": 1130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}
+{"subtask_index": 1132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 1136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}
+{"subtask_index": 1139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}
+{"subtask_index": 1140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}
+{"subtask_index": 1169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}
+{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}
+{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}
+{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}
+{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}
+{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}
+{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}
+{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}
+{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}
+{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}
+{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}
+{"subtask_index": 1195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}
+{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}
+{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}
+{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}
+{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}
+{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}
+{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}
+{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}
+{"subtask_index": 1206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}
+{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}
+{"subtask_index": 1209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 1211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}
+{"subtask_index": 1212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}
+{"subtask_index": 1213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}
+{"subtask_index": 1214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}
+{"subtask_index": 1215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}
+{"subtask_index": 1216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}
+{"subtask_index": 1217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}
+{"subtask_index": 1218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}
+{"subtask_index": 1219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}
+{"subtask_index": 1220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}
+{"subtask_index": 1221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}
+{"subtask_index": 1222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}
+{"subtask_index": 1223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}
+{"subtask_index": 1224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}
+{"subtask_index": 1225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}
+{"subtask_index": 1226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}
+{"subtask_index": 1227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}
+{"subtask_index": 1228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}
+{"subtask_index": 1229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}
+{"subtask_index": 1230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}
+{"subtask_index": 1231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}
+{"subtask_index": 1232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}
+{"subtask_index": 1233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}
+{"subtask_index": 1234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}
+{"subtask_index": 1235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}
+{"subtask_index": 1236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}
+{"subtask_index": 1237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}
+{"subtask_index": 1238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}
+{"subtask_index": 1239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}
+{"subtask_index": 1240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}
+{"subtask_index": 1241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}
+{"subtask_index": 1242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}
+{"subtask_index": 1243, "subtask": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}
+{"subtask_index": 1244, "subtask": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}
+{"subtask_index": 1245, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}
+{"subtask_index": 1246, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}
+{"subtask_index": 1247, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}
+{"subtask_index": 1248, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}
+{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}
+{"subtask_index": 1254, "subtask": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}
+{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}
+{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}
+{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}
+{"subtask_index": 1333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}
+{"subtask_index": 1334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 1350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}
+{"subtask_index": 1351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}
+{"subtask_index": 1353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 1356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}
+{"subtask_index": 1357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}
+{"subtask_index": 1358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}
+{"subtask_index": 1359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}
+{"subtask_index": 1360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}
+{"subtask_index": 1361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}
+{"subtask_index": 1362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}
+{"subtask_index": 1363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}
+{"subtask_index": 1364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}
+{"subtask_index": 1365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}
+{"subtask_index": 1366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}
+{"subtask_index": 1367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}
+{"subtask_index": 1368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}
+{"subtask_index": 1369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}
+{"subtask_index": 1371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}
+{"subtask_index": 1372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}
+{"subtask_index": 1373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}
+{"subtask_index": 1374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}
+{"subtask_index": 1375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}
+{"subtask_index": 1376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}
+{"subtask_index": 1378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}
+{"subtask_index": 1379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}
+{"subtask_index": 1380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}
+{"subtask_index": 1381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}
+{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}
+{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}
+{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}
+{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}
+{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}
+{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}
+{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}
+{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}
+{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}
+{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}
+{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}
+{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}
+{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}
+{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}
+{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}
+{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}
+{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}
+{"subtask_index": 1400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}
+{"subtask_index": 1401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}
+{"subtask_index": 1402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}
+{"subtask_index": 1403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 1404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}
+{"subtask_index": 1405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}
+{"subtask_index": 1406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}
+{"subtask_index": 1407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}
+{"subtask_index": 1408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}
+{"subtask_index": 1409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}
+{"subtask_index": 1410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}
+{"subtask_index": 1411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}
+{"subtask_index": 1412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}
+{"subtask_index": 1413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}
+{"subtask_index": 1414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}
+{"subtask_index": 1415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}
+{"subtask_index": 1416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}
+{"subtask_index": 1417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}
+{"subtask_index": 1418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}
+{"subtask_index": 1419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}
+{"subtask_index": 1420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}
+{"subtask_index": 1421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}
+{"subtask_index": 1423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}
+{"subtask_index": 1424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 1425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}
+{"subtask_index": 1426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}
+{"subtask_index": 1427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}
+{"subtask_index": 1428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}
+{"subtask_index": 1429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}
+{"subtask_index": 1430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}
+{"subtask_index": 1431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}
+{"subtask_index": 1432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}
+{"subtask_index": 1433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}
+{"subtask_index": 1434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}
+{"subtask_index": 1435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}
+{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}
+{"subtask_index": 1440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}
+{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}
+{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}
+{"subtask_index": 1446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}
+{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}
+{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}
+{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}
+{"subtask_index": 1450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}
+{"subtask_index": 1451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}
+{"subtask_index": 1452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 1453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}
+{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}
+{"subtask_index": 1456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}
+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}
+{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}
+{"subtask_index": 1459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}
+{"subtask_index": 1460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}
+{"subtask_index": 1461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}
+{"subtask_index": 1462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}
+{"subtask_index": 1463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}
+{"subtask_index": 1464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}
+{"subtask_index": 1465, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}
+{"subtask_index": 1466, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}
+{"subtask_index": 1467, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}
+{"subtask_index": 1468, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}
+{"subtask_index": 1469, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}
+{"subtask_index": 1470, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}
+{"subtask_index": 1471, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}
+{"subtask_index": 1472, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 1473, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1474, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}
+{"subtask_index": 1475, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}
+{"subtask_index": 1476, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}
+{"subtask_index": 1477, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}
+{"subtask_index": 1478, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}
+{"subtask_index": 1479, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}
+{"subtask_index": 1480, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}
+{"subtask_index": 1481, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 1482, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1483, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}
+{"subtask_index": 1484, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}
+{"subtask_index": 1485, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}
+{"subtask_index": 1486, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1487, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}
+{"subtask_index": 1488, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}
+{"subtask_index": 1489, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}
+{"subtask_index": 1490, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1491, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}
+{"subtask_index": 1492, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}
+{"subtask_index": 1493, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}
+{"subtask_index": 1494, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1495, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}
+{"subtask_index": 1496, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}
+{"subtask_index": 1497, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}
+{"subtask_index": 1498, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}
+{"subtask_index": 1499, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}
+{"subtask_index": 1500, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}
+{"subtask_index": 1501, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}
+{"subtask_index": 1502, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 1503, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}
+{"subtask_index": 1504, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}
+{"subtask_index": 1505, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1506, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}
+{"subtask_index": 1507, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}
+{"subtask_index": 1508, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}
+{"subtask_index": 1509, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1510, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 1511, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}
+{"subtask_index": 1512, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}
+{"subtask_index": 1513, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}
+{"subtask_index": 1514, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}
+{"subtask_index": 1515, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}
+{"subtask_index": 1516, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}
+{"subtask_index": 1517, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}
+{"subtask_index": 1518, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}
+{"subtask_index": 1519, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}
+{"subtask_index": 1520, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}
+{"subtask_index": 1521, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}
+{"subtask_index": 1522, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}
+{"subtask_index": 1523, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}
+{"subtask_index": 1524, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}
+{"subtask_index": 1525, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}
+{"subtask_index": 1526, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}
+{"subtask_index": 1527, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}
+{"subtask_index": 1528, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}
+{"subtask_index": 1529, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}
+{"subtask_index": 1530, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}
+{"subtask_index": 1531, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 1532, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 1533, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}
+{"subtask_index": 1534, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}
+{"subtask_index": 1535, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}
+{"subtask_index": 1536, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}
+{"subtask_index": 1537, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}
+{"subtask_index": 1538, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1539, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}
+{"subtask_index": 1540, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}
+{"subtask_index": 1541, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}
+{"subtask_index": 1542, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 1543, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}
+{"subtask_index": 1544, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}
+{"subtask_index": 1545, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}
+{"subtask_index": 1546, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}
+{"subtask_index": 1547, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}
+{"subtask_index": 1548, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}
+{"subtask_index": 1549, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}
+{"subtask_index": 1550, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}
+{"subtask_index": 1551, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}
+{"subtask_index": 1552, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}
+{"subtask_index": 1553, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}
+{"subtask_index": 1554, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}
+{"subtask_index": 1555, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 1556, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}
+{"subtask_index": 1557, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}
+{"subtask_index": 1558, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}
+{"subtask_index": 1559, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}
+{"subtask_index": 1560, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}
+{"subtask_index": 1561, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}
+{"subtask_index": 1562, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}
+{"subtask_index": 1563, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}
+{"subtask_index": 1564, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}
+{"subtask_index": 1565, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}
+{"subtask_index": 1566, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}
+{"subtask_index": 1567, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}
+{"subtask_index": 1568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}
+{"subtask_index": 1569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}
+{"subtask_index": 1570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}
+{"subtask_index": 1571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}
+{"subtask_index": 1572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}
+{"subtask_index": 1574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}
+{"subtask_index": 1575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}
+{"subtask_index": 1576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}
+{"subtask_index": 1577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}
+{"subtask_index": 1578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}
+{"subtask_index": 1579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}
+{"subtask_index": 1580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}
+{"subtask_index": 1581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}
+{"subtask_index": 1582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}
+{"subtask_index": 1583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}
+{"subtask_index": 1584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}
+{"subtask_index": 1585, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}
+{"subtask_index": 1586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}
+{"subtask_index": 1588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 1589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}
+{"subtask_index": 1590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}
+{"subtask_index": 1591, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}
+{"subtask_index": 1592, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}
+{"subtask_index": 1593, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}
+{"subtask_index": 1594, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}
+{"subtask_index": 1595, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}
+{"subtask_index": 1596, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}
+{"subtask_index": 1597, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}
+{"subtask_index": 1598, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}
+{"subtask_index": 1599, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}
+{"subtask_index": 1600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}
+{"subtask_index": 1601, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}
+{"subtask_index": 1602, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}
+{"subtask_index": 1603, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}
+{"subtask_index": 1604, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1605, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}
+{"subtask_index": 1606, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}
+{"subtask_index": 1607, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}
+{"subtask_index": 1608, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}
+{"subtask_index": 1609, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}
+{"subtask_index": 1610, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}
+{"subtask_index": 1611, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1612, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 1613, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 1614, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}
+{"subtask_index": 1615, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}
+{"subtask_index": 1616, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}
+{"subtask_index": 1617, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}
+{"subtask_index": 1618, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}
+{"subtask_index": 1619, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}
+{"subtask_index": 1620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}
+{"subtask_index": 1621, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}
+{"subtask_index": 1622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}
+{"subtask_index": 1623, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}
+{"subtask_index": 1624, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}
+{"subtask_index": 1625, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}
+{"subtask_index": 1626, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}
+{"subtask_index": 1627, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 1628, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}
+{"subtask_index": 1629, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}
+{"subtask_index": 1630, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}
+{"subtask_index": 1631, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}
+{"subtask_index": 1632, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1633, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}
+{"subtask_index": 1634, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}
+{"subtask_index": 1635, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}
+{"subtask_index": 1636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 1637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 1638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}
+{"subtask_index": 1641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}
+{"subtask_index": 1642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 1643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}
+{"subtask_index": 1644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}
+{"subtask_index": 1645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}
+{"subtask_index": 1646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 1647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}
+{"subtask_index": 1648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 1649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}
+{"subtask_index": 1650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 1651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 1652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}
+{"subtask_index": 1653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}
+{"subtask_index": 1654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}
+{"subtask_index": 1655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}
+{"subtask_index": 1656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}
+{"subtask_index": 1657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}
+{"subtask_index": 1658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}
+{"subtask_index": 1659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}
+{"subtask_index": 1660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}
+{"subtask_index": 1661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 1663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}
+{"subtask_index": 1664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}
+{"subtask_index": 1665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}
+{"subtask_index": 1666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}
+{"subtask_index": 1668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}
+{"subtask_index": 1670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 1671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}
+{"subtask_index": 1672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}
+{"subtask_index": 1673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}
+{"subtask_index": 1674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}
+{"subtask_index": 1675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}
+{"subtask_index": 1676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}
+{"subtask_index": 1677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}
+{"subtask_index": 1678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}
+{"subtask_index": 1679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}
+{"subtask_index": 1680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}
+{"subtask_index": 1681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}
+{"subtask_index": 1682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 1683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}
+{"subtask_index": 1684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}
+{"subtask_index": 1685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}
+{"subtask_index": 1686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}
+{"subtask_index": 1687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}
+{"subtask_index": 1688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}
+{"subtask_index": 1689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}
+{"subtask_index": 1690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}
+{"subtask_index": 1691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}
+{"subtask_index": 1693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}
+{"subtask_index": 1694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}
+{"subtask_index": 1695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}
+{"subtask_index": 1696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}
+{"subtask_index": 1697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}
+{"subtask_index": 1698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}
+{"subtask_index": 1699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}
+{"subtask_index": 1700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}
+{"subtask_index": 1701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}
+{"subtask_index": 1702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}
+{"subtask_index": 1703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}
+{"subtask_index": 1704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}
+{"subtask_index": 1705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}
+{"subtask_index": 1706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}
+{"subtask_index": 1707, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}
+{"subtask_index": 1708, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}
+{"subtask_index": 1709, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}
+{"subtask_index": 1710, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}
+{"subtask_index": 1711, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}
+{"subtask_index": 1712, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}
+{"subtask_index": 1713, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}
+{"subtask_index": 1714, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 1715, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 1716, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}
+{"subtask_index": 1717, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}
+{"subtask_index": 1718, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}
+{"subtask_index": 1719, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}
+{"subtask_index": 1720, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}
+{"subtask_index": 1721, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}
+{"subtask_index": 1722, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}
+{"subtask_index": 1723, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}
+{"subtask_index": 1724, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}
+{"subtask_index": 1725, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}
+{"subtask_index": 1726, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}
+{"subtask_index": 1727, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}
+{"subtask_index": 1728, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}
+{"subtask_index": 1729, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}
+{"subtask_index": 1730, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1731, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}
+{"subtask_index": 1732, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}
+{"subtask_index": 1733, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}
+{"subtask_index": 1734, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}
+{"subtask_index": 1735, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}
+{"subtask_index": 1736, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 1737, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1738, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}
+{"subtask_index": 1739, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}
+{"subtask_index": 1740, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}
+{"subtask_index": 1741, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}
+{"subtask_index": 1742, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}
+{"subtask_index": 1743, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1744, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}
+{"subtask_index": 1745, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}
+{"subtask_index": 1746, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}
+{"subtask_index": 1747, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}
+{"subtask_index": 1748, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}
+{"subtask_index": 1749, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}
+{"subtask_index": 1750, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 1751, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}
+{"subtask_index": 1752, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 1753, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}
+{"subtask_index": 1754, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}
+{"subtask_index": 1755, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}
+{"subtask_index": 1756, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}
+{"subtask_index": 1757, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}
+{"subtask_index": 1758, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}
+{"subtask_index": 1759, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}
+{"subtask_index": 1760, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}
+{"subtask_index": 1761, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}
+{"subtask_index": 1762, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 1763, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 1764, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}
+{"subtask_index": 1765, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}
+{"subtask_index": 1766, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}
+{"subtask_index": 1767, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}
+{"subtask_index": 1768, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}
+{"subtask_index": 1769, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}
+{"subtask_index": 1770, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1771, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}
+{"subtask_index": 1772, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}
+{"subtask_index": 1773, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}
+{"subtask_index": 1774, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}
+{"subtask_index": 1775, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}
+{"subtask_index": 1776, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 1777, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}
+{"subtask_index": 1778, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}
+{"subtask_index": 1779, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}
+{"subtask_index": 1780, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}
+{"subtask_index": 1781, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}
+{"subtask_index": 1782, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}
+{"subtask_index": 1783, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}
+{"subtask_index": 1784, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}
+{"subtask_index": 1785, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the wooden base at the center of the table without touching it."}
+{"subtask_index": 1786, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand contacts the edge of the wooden base, fingers adjust to establish a stable grasp on the base."}
+{"subtask_index": 1787, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}
+{"subtask_index": 1788, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the green block to the top of the purple rod on the wooden base."}
+{"subtask_index": 1789, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}
+{"subtask_index": 1790, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}
+{"subtask_index": 1791, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block and retreats upward from the assembly area."}
+{"subtask_index": 1792, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple post of the wooden base, then releases the block."}
+{"subtask_index": 1793, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1794, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1795, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}
+{"subtask_index": 1796, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}
+{"subtask_index": 1797, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}
+{"subtask_index": 1798, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}
+{"subtask_index": 1799, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}
+{"subtask_index": 1800, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1801, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}
+{"subtask_index": 1802, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}
+{"subtask_index": 1803, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}
+{"subtask_index": 1804, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 1805, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}
+{"subtask_index": 1806, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}
+{"subtask_index": 1807, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}
+{"subtask_index": 1808, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 1809, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1810, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and then releases the block."}
+{"subtask_index": 1811, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white ring placed on the peg of the wooden base."}
+{"subtask_index": 1812, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}
+{"subtask_index": 1813, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}
+{"subtask_index": 1814, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}
+{"subtask_index": 1815, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}
+{"subtask_index": 1816, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}
+{"subtask_index": 1817, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}
+{"subtask_index": 1818, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1819, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 1820, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1821, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}
+{"subtask_index": 1822, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}
+{"subtask_index": 1823, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1824, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1825, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 1826, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}
+{"subtask_index": 1827, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}
+{"subtask_index": 1828, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}
+{"subtask_index": 1829, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1830, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}
+{"subtask_index": 1831, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}
+{"subtask_index": 1832, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}
+{"subtask_index": 1833, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}
+{"subtask_index": 1834, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white cylinder onto the purple rod on the wooden tray."}
+{"subtask_index": 1835, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the green square block on the black table surface."}
+{"subtask_index": 1836, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}
+{"subtask_index": 1837, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}
+{"subtask_index": 1838, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}
+{"subtask_index": 1839, "subtask": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}
+{"subtask_index": 1840, "subtask": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/tasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/tasks.jsonl
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+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: TicTacToe"}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/v40_validation.json
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+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 35,
+  "frames": 76517,
+  "video_frames": {
+    "observation.images.head_left": 76517,
+    "observation.images.wrist_left": 76517,
+    "observation.images.wrist_right": 76517,
+    "observation.images.head_right": 76517,
+    "observation.images.tactile_deform": 76517,
+    "observation.images.tactile_raw": 76517
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 35
+}
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